WO2024040557A1 - 拣选系统、控制装置及控制方法 - Google Patents

拣选系统、控制装置及控制方法 Download PDF

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Publication number
WO2024040557A1
WO2024040557A1 PCT/CN2022/115056 CN2022115056W WO2024040557A1 WO 2024040557 A1 WO2024040557 A1 WO 2024040557A1 CN 2022115056 W CN2022115056 W CN 2022115056W WO 2024040557 A1 WO2024040557 A1 WO 2024040557A1
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WIPO (PCT)
Prior art keywords
picking
conveyor line
line
picked
boxes
Prior art date
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PCT/CN2022/115056
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English (en)
French (fr)
Inventor
陈凯
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to PCT/CN2022/115056 priority Critical patent/WO2024040557A1/zh
Publication of WO2024040557A1 publication Critical patent/WO2024040557A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution

Definitions

  • This application relates to the field of intelligent logistics technology, and in particular to a picking system, a control device and a control method.
  • the set picking workstation replaces the original picking that is completely manual and improves picking efficiency.
  • the arranged picking workstation it generally needs to occupy a larger space as the picking space, making the area occupied by the picking workstation larger.
  • picking workstations for picking work the volume of boxes supplied cannot meet the needs of the manual picking process. The efficiency of the picking workstations is low and the large space occupied is wasted.
  • this application provides a picking system, a control device and a control method to rationally utilize the picking area area to improve picking efficiency.
  • the first aspect of this application provides a picking system, which includes:
  • the upper conveyor line and the lower conveyor line are provided with a first picking station on one side of the conveying direction of the upper conveyor line and the lower conveyor line and a second picking station on the other side;
  • An unloader used to provide the boxes to be picked to the upper conveyor line and the lower conveyor line, so that the upper conveyor line and the lower conveyor line transport the boxes to be picked to the first picking station and the The second picking station is for picking;
  • the loading machine is used to recycle the sorted material boxes transported by the upper conveyor line and the lower conveyor line.
  • the unloader has an upper discharge port and a lower discharge port.
  • the upper discharge port is used to provide the to-be-picked bins to the upper conveyor line.
  • the lower discharge port The port is used to provide the to-be-picked material box to the lower conveyor line; and/or,
  • the loading machine has an upper material receiving port and a lower material receiving port.
  • the upper material receiving port is used to recover the sorted material box conveyed by the upper conveyor line.
  • the lower material receiving port is used to recover the The picking boxes are transported by the lower conveyor line.
  • the unloader has an upper discharge port and a lower discharge port
  • the loading machine has an upper material receiving port and a lower material receiving port
  • the lower conveyor line and the upper conveyor line One end along the conveying direction is respectively connected to the lower discharge port and the upper discharge port of the unloader, and the other end is respectively connected to the lower material receiving port and the upper material receiving port of the loading machine.
  • At least one of the upper conveyor line and the lower conveyor line is provided with a picking line on one side along the conveying direction;
  • the system further includes at least one transfer mechanism for transferring the to-be-picked bins between the upper conveyor line or the lower conveyor line and the picking line.
  • the lower conveyor line is provided with a lower picking line on one side along the conveying direction, and the lower picking line is located on one side of the upper conveying line along the conveying direction and is lower than the upper conveying line;
  • the system also includes at least one transfer mechanism for transferring the to-be-picked bins between the lower conveyor line and the lower picking line, or for transferring the to-be-picked bins between the upper conveyor line and the lower picking line. Transfer the bins to be picked between;
  • the first picking station is adjacent to the lower picking line, so that the boxes to be picked on the lower picking line are directly picked;
  • the second picking station is adjacent to the upper conveyor line, so that the boxes to be picked on the upper conveyor line are directly picked.
  • the second picking station is provided with a platform, so that the standing surface of the second picking station is higher than the standing surface of the first picking station.
  • the conveying directions of the upper conveyor line and the lower conveyor line are the same;
  • the conveying direction of the lower layer picking line is opposite or the same as the conveying direction of the lower layer conveying line.
  • the at least one transfer mechanism includes a first transfer mechanism and a second transfer mechanism
  • the first transfer mechanism and the second transfer mechanism are respectively located at both ends of the picking line along the conveying direction;
  • the first transfer mechanism is used to transfer the to-be-picked boxes on the lower conveyor line or the upper conveyor line to the picking line for picking
  • the second transfer mechanism is used to transfer all the boxes to the picking line.
  • the picked bins of the picking line are transferred to the lower conveyor line or the upper conveyor line.
  • the conveying directions of the upper conveyor line and the lower conveyor line are the same;
  • the lower conveyor line is provided with a lower picking line on one side along the conveying direction
  • the upper conveying line is provided with an upper picking line on one side along the conveying direction
  • the upper picking line and the lower picking line are provided on opposite sides;
  • the system also includes a transfer mechanism for transferring the to-be-picked bins between the lower conveyor line and the lower picking line, or between the upper conveyor line and the upper picking line. Transfer the bins to be picked,
  • the transfer mechanism can also reciprocate in the vertical direction for transferring the to-be-picked bins between the upper conveyor line or the upper picking line and the lower conveyor line, or for Transfer the to-be-picked bins between the lower conveyor line or the lower picking line and the upper conveyor line;
  • the first picking station is adjacent to the lower picking line, so that the to-be-picked bins on the lower picking line are directly picked;
  • the second picking station is adjacent to the upper picking line, so that the to-be-picked bins on the upper conveyor line are directly picked.
  • the system further includes an empty box delivery module for providing empty boxes to the first picking station and/or the second picking station through the upper conveyor line and/or the lower conveyor line. Empty boxes; and/or,
  • the system further includes a collection device that collects order boxes from the first picking station and/or the second picking station at least through the upper conveyor line and/or the lower conveyor line, or from the upper conveyor line. And/or the lower conveyor line collects abnormal boxes.
  • the system includes the empty box delivery module and the collection device;
  • the unloader and the loading machine are respectively located at both ends of the lower conveyor line and the upper conveyor line along the conveying direction, and the empty box delivery module and the collection device are respectively located at the lower conveyor line and the upper conveyor line. Both ends of the upper conveyor line along the conveying direction;
  • the unloader and the empty box delivery module are respectively arranged on both sides of the lower conveyor line and the upper conveyor line along the conveying direction, and the loading machine and the collecting device are respectively arranged on the lower conveyor line and the upper conveyor line.
  • the upper conveyor line is along both sides of the conveyor direction.
  • the second picking station is provided with an empty box buffer
  • the system also includes an empty box delivery module.
  • the empty box delivery module has an empty box delivery port.
  • the empty box delivery port is docked with the lower conveyor line to deliver the empty boxes to the empty box through the lower conveyor line.
  • Cache bits provide empty boxes.
  • the second picking station is further provided with a first detection device for detecting whether there are empty boxes in the empty box buffering position;
  • the system is configured to enable the empty box delivery module to deliver empty boxes to the lower conveyor line through the empty box delivery port after the first detection device outputs a detection signal indicating that there is no empty box in the empty box buffer position. box.
  • the second picking station is provided with an order box drop line
  • the system further includes a collection device having an order box collection port;
  • the order box collection port is connected to the lower conveyor line to collect the order boxes dropped from the order box drop line position to the lower conveyor line.
  • the second picking station is further provided with a second detection device for detecting the order box picking completion trigger signal
  • the system is configured to, after the second detection device detects the order box picking completion trigger signal, cause the collection module to collect the order box through the order box collection port from the order box delivery line position and put it into the Picked order boxes conveyed by the lower conveyor line.
  • the system further includes a step ladder located above the upper conveyor line, and the step step communicates with the second picking station.
  • the second aspect of this application provides a control method for a picking system.
  • the control method includes:
  • the unloader is controlled to transport the boxes to be picked to the upper conveyor line and the lower conveyor line.
  • One side of the upper conveyor line and the lower conveyor line in the conveying direction is provided with a first picking station, and the other side is provided with a second picking station. ;
  • Control the upper conveyor line and the lower conveyor line to convey the to-be-picked material boxes to the first picking station and/or the second picking station for picking;
  • the upper conveyor line and the lower conveyor line are controlled to convey the sorted material boxes to the loading machine.
  • the controlled unloader transports the boxes to be picked to the upper conveyor line and the lower conveyor line, including:
  • the upper discharge port of the unloader is controlled to transmit the material box to be picked to the upper conveyor line
  • the lower discharge port of the unloader is controlled to transmit the material box to be picked to the lower conveyor line.
  • control of the upper conveyor line and the lower conveyor line to transport the picked bins to the loading machine includes:
  • the upper conveyor line is controlled to transport the sorted material boxes to the upper material receiving port of the loading machine
  • the lower conveying line is controlled to transport the selected material boxes to the lower material receiving port of the loading machine.
  • controlling the upper conveyor line and the lower conveyor line to convey the to-be-picked bins to the first picking station and/or the second picking station for picking includes:
  • Control the upper conveyor line to transport the material boxes to be picked to the second picking station adjacent to the upper conveyor line, so that the upper material boxes to be picked are picked at the second picking station;
  • Control the lower conveyor line to transfer the to-be-picked material box to the lower-level picking line through the transfer position, so that the to-be-picked material box is picked at the first picking station of the lower-level picking line; wherein, the The lower picking line is located on one side of the lower conveying line along the conveying direction.
  • controlling the upper conveyor line and the lower conveyor line to convey the to-be-picked bins to the first picking station and/or the second picking station for picking includes:
  • Control the upper conveyor line to transfer the to-be-picked material box to the upper-level picking line through the transfer position, so that the to-be-picked material box is picked at the second picking station of the upper-level picking line;
  • the lower conveyor line is controlled to transfer the to-be-picked material box to the lower-level picking line through the transfer position, so as to control the to-be-picked material box to be picked at the first picking station of the lower-level picking line; wherein, the The lower picking line is located on one side of the lower conveying line along the conveying direction, the upper picking line is located on one side of the upper conveying line along the conveying direction, and the upper picking line and the lower picking line are set on opposite sides.
  • controlling the upper conveyor line and the lower conveyor line to convey the to-be-picked bins to the first picking station and/or the second picking station for picking includes:
  • Control the upper conveyor line to transport the to-be-picked material box to the second picking station adjacent to the upper conveyor line, so that the to-be-picked material box is initially picked at the second picking station; And, the to-be-picked material boxes that have been picked for the first time are transported to the lower picking line through the transfer position, so that the to-be-picked material boxes that have been picked for the first time are picked in the first picking line of the lower level picking line.
  • the station is selected again; and/or,
  • Control the lower conveyor line to transfer the to-be-picked material box to the lower-level picking line through the transfer position, so that the to-be-picked material box is initially picked at the first picking station of the lower-level picking line; and, The to-be-picked material boxes that have been picked for the first time are transferred to the upper conveyor line through the transfer position, so that the lower to-be-picked material boxes that have been picked for the first time are transferred to the second layer adjacent to the upper conveyor line. Picked again at the picking station.
  • the empty box delivery module is controlled to deliver empty boxes to the lower conveyor line, and the lower conveyor line is controlled to transport the empty boxes to the empty box cache position corresponding to the second picking station.
  • it also includes:
  • the upper conveyor line and/or the lower conveyor line are controlled to convey the abnormal boxes to the collection module.
  • a third aspect of this application provides a control device for a picking system.
  • the control device includes:
  • At least one memory having executable code stored thereon, causing the at least one processor to perform the method as described above when the executable code is executed by the at least one processor.
  • Figure 1 is a top view of a picking system according to an embodiment of the present application.
  • Figure 2 is a simple schematic diagram of the picking system shown in Figure 1 in the left direction;
  • Figure 3 is a simple schematic diagram of the picking system shown in Figure 1 in the rear view direction;
  • Figure 4 is a top view of another picking system according to the embodiment of the present application.
  • Figure 5 is a flow chart of the control method of the picking system according to the embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • plurality means two or more than two, unless otherwise explicitly and specifically limited.
  • This application provides a picking system, which can be applied to fields such as logistics and warehousing that require picking of goods, and is not specifically limited here.
  • the following is a detailed explanation of the picking system that is applied to the field of smart warehousing and can be used to pick goods according to orders.
  • the picking system is arranged in a picking area in a warehouse and is used to transfer the boxes stored in the warehouse to the picking area according to needs to complete the picking work.
  • the picking system includes an upper conveyor line 1 and a lower conveyor line 2.
  • the conveying direction of the upper conveyor line 1 and the lower conveyor line 2 (the direction pointed by the arrow L in Figure 2, which will not be emphasized separately later) is equipped with a first picking station. 3.
  • the first picking station 3 and the second picking station 4 are respectively arranged along the two sides of the conveyor line perpendicular to the conveying direction, and the conveying directions of the two conveying lines are the same.
  • the upper conveying line 1 can be located directly above the lower conveying line 2. But it is not limited to this, the boxes to be picked can be transported simultaneously through the two-layer conveyor line.
  • the double-layer conveyor line transports the boxes to be picked so that the picking stations can be arranged on opposite sides of the conveyor line. Without affecting the picking work of the pickers in the two picking stations, the setting of the picking stations on the opposite sides is consistent with the Compared with the setting of double picking positions on one side, the transmission distance of the boxes to be picked on the conveyor line is significantly shortened, the length requirement of the conveyor line in the conveying direction is reduced, and the area occupied by it is saved. It can be understood that the conveying directions of the upper conveyor line 1 and the lower conveyor line 2 are not limited to the same. In practical applications, they can also be set to reverse directions according to actual needs.
  • the material box to be picked is a material box storing goods in the warehouse. According to the goods information required for the order, the material box is transported to the picking area as the material box to be picked. And when the upper conveyor line 1 and the lower conveyor line 2 transport the boxes to be picked, the boxes to be picked can be transported to the first picking station 3 and the second picking station 4 for picking according to the order requirements. The boxes to be picked are picked. It later becomes the picking bin.
  • the picking system also includes an unloader 5 and a loader 6.
  • the unloader 5 is used to provide the boxes to be picked to the upper conveyor line 1 and the lower conveyor line 2, so that the upper conveyor line 1 and the lower conveyor line 2
  • the boxes to be picked are transported to the first picking station 3 and the second picking station 4 for picking.
  • the loading machine 5 is used to recover the sorted bins conveyed by the upper conveyor line 1 and the lower conveyor line 2.
  • the two-layer conveyor lines are connected to the unloader 5 and the loader 6 respectively, so that the picking personnel located at the two picking stations can transport the boxes to be picked from the two conveyor lines on both sides of the conveyor line.
  • the required picking goods are obtained, and the sorted boxes are recycled through the loading machine 6.
  • the unloader 5 and the loader 6 are respectively connected to both ends of the upper conveyor line 1 and the lower conveyor along the conveying direction of the conveyor line 2.
  • the conveying direction is from the direction of the unloader 5 to the direction of the loader 6, so that it is exported from the unloader 5
  • the boxes to be picked enter the upper conveyor line 1 and the lower conveyor line 2, and the picked boxes are recovered to the loading machine 6 via the upper conveyor line 1 and the lower conveyor line 2.
  • the unloader 5 can be used as a device that caches in the picking area and can provide to-be-picked boxes to the two-layer conveyor line.
  • the loader 6 can be used as a device that recovers and caches the picked boxes from the two-layer conveyor line. This allows the picked bins to be transported back to their original locations or new locations on the warehouse shelves for storage.
  • the specific structures and implementation methods of the unloader 5 and the loading machine 6 will not be described in detail here.
  • At least one of the unloader 5 and the loading machine 6 is provided with a double-layer opening to correspond to the upper conveyor line 1 and the lower conveyor line 2 .
  • the unloader 5 has a double-layer opening.
  • the unloader 5 has an upper outlet 501 and a lower outlet 502.
  • the upper outlet 501 is used to provide the boxes to be picked to the upper conveyor line 1.
  • the lower outlet The outlet 502 is used to provide the boxes to be picked to the lower conveyor line 2 .
  • the loading machine 6 has a double-layer opening.
  • the loading machine 6 has an upper material collection port 601 and a lower material collection port 602.
  • the upper material collection port 601 is used to recover the sorted material boxes conveyed by the upper conveyor line 1.
  • the lower material receiving port 602 is used to collect the sorted material boxes conveyed by the lower conveyor line 2.
  • one end of the lower conveyor line 2 and the upper conveyor line 1 along the conveying direction is respectively connected to the lower discharge port 502 and the upper discharge port 501 of the unloader 5, and the other end is respectively connected to the lower material collection of the loading machine 6. mouth and the upper material receiving mouth.
  • the method provided is to simultaneously provide the boxes to be picked to the two-layer conveyor lines through the double-layer opening and/or to simultaneously recover the picked boxes from the two-layer conveyor lines, so as to realize the simultaneous input and/or simultaneous output of the two conveyor lines. It is conducive to improving the efficiency of providing to-be-picked bins to the two conveyor lines and recycling the picked bins. While improving the picking efficiency of the two picking stations on the to-be-picked bins on the conveyor line, it also improves the efficiency of recycling the picked bins. Efficiency and avoid congestion on conveyor lines. Improve operational efficiency.
  • a conveyor belt is provided corresponding to each opening position to dock with the conveyor line.
  • the conveyor belt The conveying direction is perpendicular to the conveying direction of the conveyor line so that the boxes can be converted between the conveyor line and the conveyor belt. It can be understood that the conveyor belt mentioned above for docking with the conveyor line can also be provided on the same conveyor line, and is not specifically limited here.
  • the upper conveyor line 1 and the lower conveyor line 2 are connected to an unloader and a loader with double-layer openings as an example. Describe in detail how the upper conveyor line 1 and the lower conveyor line 2 transport the boxes to be picked to the first picking station 3 and the second picking station 4 for picking.
  • At least one of the upper conveyor line 1 and the lower conveyor line 2 is provided with a picking line on one side along the conveying direction; the system also includes at least one transfer mechanism for moving the upper conveyor line 1 or the lower conveyor line 2. Transfer the boxes to be picked between the picking line.
  • a picking line By arranging a picking line on at least one side of the upper conveyor line 1 and the lower conveyor line 2, it is avoided that the boxes to be picked are transported to the first picking station 3 and the second picking station 4 provided on opposite sides.
  • the transfer mechanism can transfer the boxes to be picked between the conveyor line and the picking line.
  • At least one of the first picking station 3 and the second picking station 4 performs picking work on the boxes to be picked on the picking line, so that The picking stations located on both sides can complete the picking work efficiently and stably.
  • the lower conveyor line 2 is provided with a lower picking line 7 on one side along the conveying direction.
  • the lower picking line 7 is located on one side of the upper conveying line 1 along the conveying direction and is lower than the upper conveying line 1.
  • the transfer mechanism is used to transfer the boxes to be picked between the lower conveyor line 2 and the lower picking line 7.
  • the first picking station 3 is adjacent to the lower picking line 7 so that the boxes to be picked on the lower picking line 7 are directly picked;
  • the second picking station 4 is adjacent to the upper conveyor line 1 so that the boxes to be picked on the upper conveyor line 1 are The bins are picked directly.
  • the lower picking line 7 By arranging the lower picking line 7 on one side of the lower conveyor line 2, it is avoided that the boxes to be picked are directly picked on the lower conveyor line, thereby avoiding the first picking station 3 and the second picking station 4 that are arranged oppositely. Interference with each other during the picking process prevents the picking at the first picking station 3 from being restricted by the upper conveyor line 1, improves efficiency and ensures the operational safety at the first picking station 3. Moreover, through the transfer mechanism provided in the lower picking line 7, the boxes to be picked can be moved into or out of the lower picking line according to needs, so that the boxes to be picked in the lower picking line 7 can be directly picked by the first picking station 3 or from the first picking station 3.
  • the lower conveyor line 2 recycles the sorted bins picked by the first picking station 3 to the loading machine 6 .
  • the transfer mechanism can be used to transfer the boxes to be picked between the upper conveyor line 1 and the lower picking line 2 .
  • the transfer mechanism can be used to transfer the goods
  • the to-be-picked bins picked by the picking station are transferred to another conveyor line or picking line for picking by another picking station, so that the goods in the to-be-picked bins can be fully sorted.
  • the picking personnel directly pick the boxes to be picked on the upper conveyor line 1 at the second picking station 4 , the boxes to be picked are moved into the lower picking line 7 through the transfer mechanism, and the picking personnel select the boxes to be picked in the lower picking line 7 at the first picking station 3 .
  • the to-be-picked material box of the lower picking line 7 is picked, if the picked material box is also the required material box of the second picking station 4, the material box will be transferred to the upper conveyor line 1 through the transfer mechanism to The bin is picked at the second picking station 4.
  • the picked bins are obtained, and the bins are transported through the upper conveyor line 1 or the lower conveyor line 2 where the picked bins are located at this time. Recycle to feeder 6.
  • the upper conveyor line 1 can also be provided with an upper picking line on one side along the conveying direction.
  • the upper picking line and the lower picking line 7 are arranged on opposite sides.
  • the transfer mechanism is also used to connect the upper conveying line 1 and the lower picking line 7.
  • the boxes to be picked are transferred between the upper picking lines, and the second picking station 4 is adjacent to the upper picking line, so that the boxes to be picked on the upper conveyor line 1 are directly picked.
  • the first picking station 4 when the second picking station 4 directly picks the boxes to be picked on the adjacent upper conveyor line 1, in order to facilitate the picking personnel of the two picking stations located on both sides, the first picking station
  • the standing surface of the station 3 can be directly on the ground, for example, and the lower picking line 7 is set to a height that is convenient for the picking personnel of the first picking station 3 to pick.
  • the second picking station 4 is provided with a platform, and the pickers stand on the platform, so that the standing surface of the second picking station 4 is higher than the standing surface of the first picking station 3, so that they can directly access the upper conveyor line 1 or the upper picking line.
  • the to-be-picked bins are directly selected.
  • the conveying direction of the upper conveyor line 1 and the lower conveyor line 2 are the same.
  • the conveying direction of the lower picking line 7 is the same as that of the lower conveyor line 2.
  • the conveying directions of the conveying line 2 can be opposite or the same, and are not specifically limited here.
  • the conveying direction of the lower sorting line 7 and the conveying direction of the lower conveying line 2 are set to be opposite.
  • the set transfer mechanism can satisfy the requirements of the lower picking line 7.
  • the material boxes can be transferred between the lower conveyor line 2 or the upper conveyor line 1.
  • the provided transfer mechanism includes at least a first transfer mechanism 702 and a second transfer mechanism 701.
  • the first transfer mechanism 702 and the second transfer mechanism 701 are respectively provided along the conveying line of the picking line. At both ends of the direction; the first transfer mechanism 702 is used to transfer the to-be-picked bins on the lower conveyor line 2 or the upper conveyor line 1 to the picking line for picking, and the second transfer mechanism 701 is used to transfer the picking to the picking line.
  • the rear material box is transferred to the lower conveyor line 2 or the upper conveyor line 1.
  • the picking line is arranged on one side of the lower conveyor line 2, which is recorded as the lower picking line 7.
  • the direction of the lower picking line 7 and the lower conveying line 2 are opposite, and the second transfer mechanism 701 is located in front of the first transfer mechanism 702 along the direction of the lower picking line 7 to transport the boxes to be picked.
  • the first transfer mechanism 702 includes a first lifting part and a first transfer part. The first lifting part and the first transfer part drive the boxes to move in directions that are perpendicular to each other.
  • the first lifting part is used to move the picking of the upper conveyor line 1
  • the rear material box is lowered to the lower picking line 7 for picking by the first picking station 3 .
  • the first transfer part is used to push the material boxes to be picked from the lower conveyor line 2 into the lower picking line 7 .
  • the second transfer mechanism 701 includes a second lifting part and a second transfer part.
  • the directions in which the second lifting part and the second transfer part drive the movement of the bin are perpendicular to each other.
  • the second transfer part is used to move the lower picking line 7
  • the picked bins are pushed to the lower conveyor line 2
  • the second lifting part is used to lift the picked bins of the lower picking line 7 to the upper conveyor line 1 for picking by the second picking station 4.
  • the first lifting part and/or the second lifting part may include, for example, a cylinder, a screw nut pair, etc. that are provided with a placement platform and drive the placement platform to move in the vertical direction.
  • the first transfer part and/or the second transfer part may include, for example, It may include a push block, a cylinder that drives the push block to reciprocate in the horizontal direction, a screw nut pair, etc., and is not specifically limited here.
  • first lifting part and the second lifting part may be the same or different, and the first transfer part and the second transfer part may be the same or different.
  • first transfer part and the second transfer part may be the same or different.
  • transfer positions are provided at both ends of the lower picking line 7 along the conveying direction, and the two transfer positions are respectively used to place the first transfer Mechanism 702 and a second transfer mechanism 701.
  • the second transfer mechanism 701 is located on the side close to the unloader 5.
  • the transfer mechanism can drive the material box to move in the horizontal direction between the lower picking line 7 and the lower conveyor line 2.
  • the movement can also drive the material box to move in the vertical and horizontal directions between the lower picking line 7 and the upper conveying line 1.
  • the unloader 5 provides the boxes to be picked to the upper conveyor line 1 and the lower conveyor line 2 through the upper outlet 501 and the lower outlet 502 respectively, and the boxes to be picked in the upper layer are transported to the upper conveyor line.
  • the staff can pick the required goods from the boxes to be picked according to needs;
  • the boxes to be picked on the lower level are transported to the lower conveyor line 2 corresponding to the action range of the first transfer mechanism 702 During this time, the to-be-picked bins of the lower conveyor line 2 are moved to the lower-layer picking line 7 through the action of the first transfer mechanism 702.
  • the opposite movement direction of the lower-layer picking line 7 and the lower conveyor line 2 enables the to-be-picked bins to be re-arranged.
  • the staff can pick the required goods from the to-be-picked bins according to the needs.
  • the material box picked by the first picking station 3 continues to move to the action range of the second transfer mechanism 702, it is determined whether the goods in the material box contain goods required by the second picking station 4. If so, the second picking station 4 will The second transfer mechanism 702 drives the material box to move vertically upward to the side corresponding to the upper conveyor line 1, and then drives the material box into the upper layer picking line 1 through the horizontal movement of the second transfer mechanism 702, and along with the upper layer picking Line 1 enters the second picking station 4 for picking.
  • the second transfer mechanism 702 is made to perform a horizontal movement of the material box at a position corresponding to the lower picking line 7 to drive the material box from the lower picking line 7 Enter the lower conveyor line 2.
  • the material box picked by the second picking station 4 contains the goods required by the first picking station 3
  • the second The transfer mechanism 702 moves vertically upward to the side corresponding to the upper conveyor line 1, moves the material box to the transfer position, and drives the material box to move vertically downward to the position corresponding to the lower picking line 7, pushing the material box Enter the lower picking line 7 for staff to pick.
  • the bins will be recovered by the loading machine 6 along with the movement of the corresponding conveyor line, thereby fully picking the goods in the to-be-picked bins on the conveyor line to improve picking. efficiency.
  • the upper conveyor line 1 and the lower conveyor line 2 are respectively provided with picking lines on one side along the conveying direction, and the conveying directions of the upper conveyor line 1 and the lower conveyor line 2 are the same. That is, the lower conveyor line 2 is provided with a lower picking line 7 on one side along the conveying direction, and the upper conveyor line 1 is provided with an upper picking line 101 on one side along the conveying direction.
  • the upper picking line 101 and the lower picking line 7 are provided on opposite sides.
  • the first picking station 3 is adjacent to the lower picking line 7, so that the boxes to be picked on the lower picking line 7 are directly picked; the second picking station 4 is adjacent to the upper picking line 101, so that the to-be-picked boxes on the upper conveyor line 1 are directly picked. The bins are picked directly.
  • the system also includes a transfer mechanism for transferring the boxes to be picked between the lower conveyor line 2 and the lower picking line 7 , or for transferring the boxes to be picked between the upper conveyor line 1 and the upper picking line 101 .
  • the transfer mechanism can also reciprocate in the vertical direction for transferring the boxes to be picked between the upper conveyor line 1 or the upper picking line 101 and the lower conveyor line 2, or for picking on the lower conveyor line 2 or the lower conveyor line 2.
  • the boxes to be picked are transferred between line 7 and the upper conveyor line 1.
  • the transfer mechanism can be arranged at a position close to the tail end of the conveyor line along the conveying direction (that is, the side close to the discharge port).
  • the transfer mechanism moves vertically downward to a position corresponding to the side of the lower conveyor line 2, and the bin passes through the lower picking line 7
  • the transfer mechanism can push the material box to move laterally to the transfer position, and drive the material box through the transfer mechanism Move vertically upward to the position on one side of the upper conveyor line 1, and then use the transfer mechanism to push the box horizontally to the upper conveyor line 1 so that it can be transferred to the upper picking line 101 for picking.
  • the transfer mechanism moves vertically upward to a position corresponding to the side of the upper conveying line 1, and the bins are transported back through the upper picking line 101
  • the transfer mechanism located on one side can push the material box to move laterally to enter the transfer position, so that the transfer mechanism drives the material box to move vertically downward to one side of the lower conveyor line 2, and then through The transfer mechanism drives the material box to move laterally to transfer the material box to the lower conveyor line 2 so that the material box can be transported to the lower picking line 7 through the lower conveyor line 2 for picking.
  • the transfer mechanism can be arranged on the side of the picking line near the discharge port in the conveying direction according to needs, so that the transfer mechanism can realize vertical movement to reciprocate between the upper and lower layers, and can also move back and forth between the upper and lower layers according to needs.
  • the boxes to be picked are transferred to the conveyor line or picking line, which will not be explained in detail here.
  • an upper picking line 101 is set on one side corresponding to the upper conveyor line 1.
  • the lower picking line 7 and the upper picking line 101 are set on opposite sides.
  • the movement direction of the picking line is consistent with that of the lower picking line 7.
  • the conveyor line moves in the opposite direction.
  • a transfer position 1011 is provided at one end of the upper picking line 101 close to the unloader 5, and the transfer position 1011 can move in the vertical direction to one end of the upper picking line 101 close to the unloader 5 and to One side of the lower picking line 7 is flush with the lower conveying line 2 , and the transfer position 1011 in this state can be arranged on both sides of the lower conveying line 2 opposite to one end of the lower picking line 7 .
  • the transfer position 1011 is provided with a transfer mechanism, which can drive the material box to move horizontally to push the material box to the lower conveyor line 2 or the upper conveyor line 1 .
  • the specific working process is as follows: the unloader 5 provides the boxes to be picked to the upper conveyor line 1 and the lower conveyor line 2 through the upper outlet 501 and the lower outlet 502 respectively, and the boxes to be picked in the upper conveyor line 1 are transported to When the corresponding end of the upper picking line 101 is far away from the unloader 5, the box to be picked at this position is controlled to be pushed into the upper picking line 101.
  • the upper picking line 101 drives the box to be picked into the second picking station through the opposite movement of the conveyor line. 4.
  • the staff can select the required goods from the boxes to be picked according to the needs; when the boxes to be picked transported from the unloader 5 to the lower conveyor line 2 move to the end of the lower picking line 7 away from the unloader 5, The material box to be picked is controlled to be pushed into the lower picking line 7 at this position.
  • the lower picking line 7 drives the material box to be picked into the first picking station 3 through the movement opposite to the conveyor line.
  • the staff can pick from the material box to be picked according to the needs. required goods.
  • the material box picked by the second picking station 4 continues to move on the upper picking line 101, it is determined whether the goods in the material box contain the goods required by the first picking station 3.
  • the transfer position 1011 is The transfer mechanism is driven to move vertically upward to the end of the upper picking line 101 close to one end of the unloader 5.
  • the transfer mechanism drives the horizontal movement of the material box to make the material boxes of the upper picking line 101 enter the transfer position 1011, and the material box is moved to the transfer position 1011.
  • the loading position 1011 drives the transfer mechanism and the material box to move vertically downward to the side opposite to one end of the lower conveyor line 2 and the lower picking line 7 . And push the material box to move horizontally to the lower conveyor line 2 through the transfer mechanism, so that the material box can pass through the lower conveyor line 2 and then enter the lower picking line 7 to complete picking; if not, push the material box back to the upper conveyor line 1
  • the flow is transferred into the feeding machine 4.
  • the moving The loading position 1011 drives the transfer mechanism to move vertically downward to one side of the lower conveyor line 1.
  • the transfer mechanism drives the material box at the end of the lower picking line 7 into the transfer position 1011, and moves vertically upward through the transfer position 1011. Movement to drive the material box to one side of the upper layer picking line 101, and drive the material box to move horizontally to the upper layer conveyor line 1 through the transfer mechanism, and repeat the picking; if not, push the material box back to the lower layer conveyor line 2 to The flow is transferred into the feeding machine 4. In this way, the goods in the to-be-picked bins on the conveyor line can be fully picked to improve picking efficiency.
  • the system further includes at least one of an empty box delivery module 8 and a collection device 9 .
  • the empty box delivery module 8 is used to transport the empty boxes to the first picking station 3 and the first picking station 3 through the upper conveyor line 1 and/or the lower conveyor line 2 .
  • the second picking station 4 provides empty boxes.
  • the collection device 9 collects the completed order boxes at the first picking station 3 and/or the second picking station 4 at least through the upper conveyor line 1 and/or the lower conveyor line 2, or from the upper conveyor line 1 and/or the lower conveyor line 2Collect abnormal boxes.
  • the upper conveyor line 1 and the lower conveyor line 2 can be used to pick the first picking station.
  • the station 3 and the second picking station 4 provide empty boxes, and the upper conveyor line 1 and the lower conveyor line 2 can also be used to collect the order boxes after picking from the first picking station 3 and the second picking station 4. There is no need to enter the first picking station 3 and the second picking station 4 to transfer in empty boxes, transfer out order boxes or abnormal boxes. Make reasonable use of the conveyor line to avoid inconvenient entry and exit in the first picking station 3 and the second picking station 4. Under such circumstances, it can meet the normal flow of picking work and ensure the smooth operation process.
  • the empty box dropping module 8 and/or the collection device 9 may include, but are not limited to, a conveyor belt, for example.
  • the unloader 5 and the loading machine 6 are respectively located at both ends of the lower conveyor line 2 and the upper conveyor line 1 along the conveying direction.
  • the empty box put module 8 and the collection device 9 They are located at both ends of the lower conveyor line 2 and the upper conveyor line 1 along the conveying direction.
  • the unloader 5 and the empty box delivery module 8 are respectively located on both sides of the lower conveyor line 2 and the upper conveyor line 1 along the conveying direction.
  • the loading machine 6 and the collection device 9 are respectively located on the lower conveyor line 2 and the upper conveyor line 1 along the conveying direction. both sides.
  • the oppositely disposed unloader 5 and empty box delivery module 8 can be connected to the conveyor line through a conveyor belt disposed perpendicularly to the conveyor line to deliver empty containers to the upper conveyor line 1 and/or the lower conveyor line 2 as required. boxes or boxes to be picked, for the corresponding first picking station 3 and/or the second picking station 4 to pick or collect empty boxes.
  • the oppositely arranged loading machine 6 and the collecting device 9 can also be connected through the provided conveyor belt, which will not be described in detail here.
  • the empty box delivery module 8 and the collection device 9 can be realized only by setting up a conveyor belt that docks with the conveyor line, and the staff places the empty boxes on the conveyor belt to be transferred to the conveyor line or the order boxes are transferred to the conveyor line through the conveyor line. Pushed to the conveyor belt on the side of the loading machine 6. Alternatively, it can also be implemented through other matching structures, which are not specifically limited here.
  • the first picking station 3 and the second picking station 4 are arranged respectively in the first area and the second area divided on both sides of the conveying direction of the conveyor line, and because The second area belongs to the warehouse area. You cannot move back and forth, and there will be collision avoidance with the robot. Therefore, the empty box circulation module 8 and the collection device are set up, and the staff only need to stay in the fixed position of the second picking station 4 to avoid safety problems.
  • the second picking station 4 is provided with an empty box buffering position 401, and the empty box delivery module 8 has an empty box drop port, which is connected to the lower conveyor line 2 through the empty box drop port, so that the empty boxes can be delivered to the lower conveyor line 2 through the lower conveyor line 2.
  • Cache bit 401 provides empty boxes.
  • the second picking station 4 is provided with an order box drop-in position 402, and the collection device 9 has an order box collection port.
  • the order box collection port is connected with the lower conveyor line 2 to collect the order box drop-in position 402 that is dropped onto the lower conveyor line 2. Order box.
  • the empty box buffering position 401 and the order box dropping line position 402 can be combined and arranged in the same slot.
  • the picking work can be stopped through the button set on the order box dropping line position 402, and the staff can
  • the order boxes in the slots are put into the upper conveyor line and/or the lower conveyor line for placing orders onto the conveyor line, so that the order boxes enter the collection device 9 .
  • the empty box is placed in the slot of the order box just now, so that the empty box can be bound to a new order so that the staff can pick it from the to-be-picked material box according to the order.
  • This method utilizes the conveyor line to complete the transportation of empty boxes and the transfer of order boxes at the second picking station 4, rationally utilizing the spatial structure layout, improving the area utilization rate of the picking area, and solving the problem of inconvenient circulation of empty boxes and order boxes at relatively set picking stations. problems to ensure smooth picking operations.
  • the shelves provided at the second picking station 4 include a first shelf 403 and a second shelf 404 provided on both sides of the platform.
  • the first shelf 403 is provided with
  • the empty box cache position 401 is the above-mentioned slot used to place empty boxes and can be bound with order information.
  • the staff can obtain the empty boxes from the first shelf 403 and pick from the to-be-picked bins based on the order information bound above. materials.
  • the order boxes after picking are temporarily stored in the second shelf 404. When there are enough order boxes on the second shelf 404 or the batch of orders is completed, the order boxes can be circulated through the order box drop-in position 402 set on the second shelf 404. out.
  • the first picking station 3 is also provided with oppositely arranged shelves. Compared with the second picking station 4, the first picking station 3 has an open area that is easy to enter and exit. Workers or machines can easily replenish empty boxes to the shelves or remove order boxes. The first picking station 3 does not need to dock empty boxes. Drop module 8 and collection module 9.
  • the system also includes a step ladder 10 located above the upper conveyor line 1, and the step ladder 10 is connected to the second picking station 4.
  • each part of the equipment in the system can be connected to the control device through a network, and each part can be controlled to perform corresponding actions through corresponding instructions sent by the control device.
  • the network can be a wired network or a wireless network. , no specific limitation is made here. It can be understood that the control device may include one or more terminals and/or one or more servers.
  • the control device is at least used to send the first start command, the second start command and the third start command
  • the unloader 5 is used to receive the first start command, and according to the first start command, the to-be-picked material box is discharged from the upper outlet 501 and the lower discharge port 502 are respectively input to the picking stations corresponding to the upper conveyor line 1 and the lower conveyor line 2.
  • the loading machine 6 is used to receive the second start command, and according to the second start command, the picked bins of the upper conveyor line 1 and the lower conveyor line 2 enter from the upper material receiving port and the lower material receiving port for recycling.
  • the upper conveyor line 1, the lower conveyor line 2 and the lower picking line 7 are used to receive the third start command to start the two conveyor lines to move in the same direction, and the lower picking line 7 and the lower conveyor line 2 to move in the opposite direction and in the same direction.
  • the direction of movement is from the direction of the unloader 5 to the direction of the upper unloader 6 .
  • the control device sends action instructions to the first transfer mechanism 702 and the second transfer mechanism 701.
  • the first transfer mechanism 702 and the second transfer mechanism 701 implement corresponding actions through the received action instructions, so that the boxes to be picked in the lower conveyor line 2 or the upper conveyor line 1 are moved into the lower picking line 7 and are moved to the first picking station 3
  • the to-be-picked bins selected by the first picking station 3 enter the upper conveyor line 1 and are picked by the second picking station 4.
  • the control device can control the actions of the first transfer mechanism 702 and the second transfer mechanism 701 based on the operation of the to-be-picked bins on the conveyor line, the picking line and the remaining goods information in the to-be-picked bins, so that the two transfer mechanisms
  • the loading mechanism can complete the trajectory of the to-be-picked bin between the conveyor line and the picking line according to the action instructions, until the remaining goods in the to-be-picked bin cannot be picked by another picking station and are used as the picked bins by the loading machine. 6 recycling to fully select the goods in the to-be-picked bins on the conveyor line to improve picking efficiency.
  • the picking personnel need to put the picked goods into empty bins to obtain the sorted bins.
  • the outer surface of the empty box can be affixed with QR codes, labels and other information.
  • Pickers can obtain the corresponding cargo information from there to pick according to needs and obtain order boxes with QR codes, labels and other information affixed.
  • the cargo information affixed to each empty box in each picking station can be the same or different.
  • the cargo information affixed to the empty boxes dropped between two picking stations can be the same or different. This does not apply. Make specific limitations. In order to improve picking efficiency, a batch of order boxes need to be picked at one time, that is, the goods picked in the two picking stations are the same to obtain the same order boxes.
  • the second picking station 4 is also provided with a first detection device for detecting whether there is an empty box in the empty box buffering position 401, and the control device is used for receiving a detection signal that there is no empty box.
  • the system is configured such that after the first detection device outputs a detection signal indicating that there is no empty box in the empty box buffer position 401, the control device controls the empty box delivery module 8 to start, so that the empty box delivery module 8 passes through the empty box delivery port to the lower conveyor line. 2Put in empty boxes.
  • a first stop command is sent to the lower outlet 502 of the unloader 5, and the lower conveyor line 2 is used to deliver empty boxes to the second picking station 4.
  • the first detection device When the first detection device detects that the empty box buffer position 401 is full, it sends a full box signal to the control device, and the control device controls the empty box delivery module 8 to stop and the unloader 5 to restart and deliver the boxes to be picked to the lower conveyor line 2. , the first picking station 3 and the second picking station 4 continue the picking work.
  • the first detection device may include, for example, a photoelectric sensor located at the empty box buffer position 401 .
  • the empty box buffering position 401 and the second transfer mechanism 701 are arranged oppositely.
  • the empty box can be pushed by controlling the second transfer mechanism 701. Enter empty box cache bit 401.
  • the second picking station 4 is also provided with a second detection device for detecting the order box picking completion trigger signal, and the control device is used for receiving the trigger signal.
  • the system is configured to detect the order box picking completion trigger signal after the second detection device detects the order box picking completion trigger signal.
  • the control device is used to receive a trigger signal, control the start of the collection module 9, and control the unloader 5 to stop transporting the boxes to be picked to the lower conveyor line 2 according to the trigger signal, so that the collection module 9 collects the order boxes from the order boxes through the order box collection port.
  • the line position is put into the picked order box transported by the lower conveyor line.
  • the second detection device may be a button detection circuit for detecting an order box picking completion trigger signal generated when a button provided on the second shelf 404 is pressed.
  • the collection device When the stored order boxes are full or about to be filled on the shelf, you can start the collection device by pressing the button, and control the unloader 5 to stop transporting the boxes to be picked to the lower conveyor line 2.
  • the lower conveyor line 2 is used to transport the order boxes dropped through the order box drop-in position 402 to the collection device 9, thereby completing the flow of order boxes at the second picking station 4, and then reset the button, and the unloader 5 is restarted to enable the second picking station 4.
  • the first picking station 3 and the second picking station 4 complete the picking work.
  • the order boxes of the lower conveyor line 1 can be pushed into the order boxes through the first transfer mechanism 702 or an additional transfer mechanism. Collection port.
  • This application also provides a control method, see Figure 5.
  • This control method is applied to the above system.
  • the control method includes the following steps:
  • S100 Control the unloader to transport the boxes to be picked to the upper conveyor line and the lower conveyor line.
  • each part can be controlled to perform corresponding actions through the control device.
  • the control device can obtain the order information to be picked and the cargo information of the boxes to be picked before the control system starts the picking work.
  • the control device can select the rear bins from the to-be-picked bins according to the order requirements at the picking station.
  • the situation of the remaining goods in the picking station is used to determine whether it can still meet the picking needs of the picking station or another picking station. If so, the box will continue to be picked by the picking station or the box will be transferred to another layer by controlling the transfer mechanism.
  • the conveyor line is used for picking by another picking station. Otherwise, the box is transported to the loading machine for recycling by controlling the conveyor line of this layer as the picked box.
  • controlling the unloader to transfer the boxes to be picked to the upper conveyor line and the lower conveyor line includes: controlling the upper outlet of the unloader to transfer the boxes to be picked to the upper conveyor line, and controlling the lower outlet of the unloader.
  • the to-be-picked material boxes are transported to the lower conveyor line.
  • controlling the upper conveyor line and the lower conveyor line to transport the picked bins to the loading machine includes: controlling the upper conveyor line to transport the picked bins to the upper receiving port of the loading machine, and controlling the lower conveyor line to transport the picked bins Transported to the lower receiving port of the loading machine.
  • controlling the upper conveyor line and the lower conveyor line to transport the boxes to be picked to the first picking station and/or the second picking station for picking includes:
  • the upper conveyor line is controlled to transfer the boxes to be picked to the upper picking line 101 through the transfer position, so that the boxes to be picked are transferred to the second step of the upper picking line 101. being picked at the picking station; and, controlling the lower conveyor line to transfer the to-be-picked material box to the lower-level picking line through the transfer position, so as to control the to-be-picked material box to be picked at the first picking station of the lower-level picking line; wherein, the lower-level picking The line is located on one side of the lower conveyor line along the conveying direction, and the upper picking line 101 is located on one side of the upper conveyor line along the conveying direction.
  • the upper picking line 101 and the lower picking line are set on opposite sides.
  • controlling the upper conveyor line and the lower conveyor line to transport the to-be-picked bins to the first picking station and/or the second picking station for picking may also include:
  • Control the upper conveyor line to transport the material boxes to be picked to the second picking station adjacent to the upper conveyor line, so that the material boxes to be picked are initially picked at the second picking station; and, the materials to be picked after the initial picking are The boxes are transported to the lower picking line through the transfer position, so that the boxes to be picked after initial picking are picked again at the first picking station of the lower picking line; and/or,
  • Control the lower conveyor line to transfer the to-be-picked material boxes to the lower-level picking line, so that the to-be-selected material boxes are initially picked at the first picking station of the lower-level picking line;
  • the load position is transferred to the upper conveyor line, so that the lower to-be-picked boxes that have been picked for the first time are picked again at the second picking station adjacent to the upper conveyor line.
  • the method further includes: controlling the empty box delivery module to deliver the empty boxes to the lower conveyor line, and controlling the lower conveyor to deliver the empty boxes to the third conveyor line.
  • the empty box delivery module is used to deliver empty boxes to the second picking station.
  • the method specifically includes: after detecting a detection signal indicating that there is no empty box in the empty box buffer position of the second picking station, causing the empty box delivery module to Drop empty boxes to the lower conveyor line to provide empty boxes to the empty box buffer position through the lower conveyor line.
  • the method may include: controlling the lower conveyor line to transport the second picking station.
  • the order boxes placed on the order box delivery line are sent to the collection module, or the upper conveyor line and/or the lower conveyor line are controlled to transport abnormal boxes to the collection module.
  • the collection device is used to collect order boxes or abnormal boxes from the second picking station.
  • the method specifically includes: after detecting the order box picking completion trigger signal, causing the collection module to collect order boxes from the second picking station.
  • the line position is put into the picked order box transported by the lower conveyor line.
  • control device for a picking system
  • the control device includes a memory and a processor. It can be understood that the control device may include one or more terminals and/or one or more servers.
  • the processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or field programmable Gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA field programmable Gate array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • Memory may include various types of storage units, such as system memory, read-only memory (ROM), and persistent storage. Among them, ROM can store static data or instructions required by the processor or other modules of the computer. Persistent storage may be readable and writable storage. Persistent storage may be a non-volatile storage device that does not lose stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (eg, magnetic or optical disk, flash memory) as the permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (eg, floppy disk, optical drive). System memory can be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory.
  • System memory can store some or all of the instructions and data the processor needs to run.
  • the memory may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic and/or optical disks may also be employed.
  • memory may include a readable and/or writable removable storage device, such as a compact disc (CD), a read-only digital versatile disc (eg, DVD-ROM, dual-layer DVD-ROM), a Read Blu-ray discs, ultra-density discs, flash memory cards (such as SD cards, min SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc.
  • Computer-readable storage media do not contain carrier waves and transient electronic signals that are transmitted wirelessly or wired.
  • the memory stores executable code.
  • the processor can be caused to execute part or all of the above-mentioned methods.
  • the method according to the present application can also be implemented as a computer program or computer program product, which computer program or computer program product includes computer program code instructions for executing part or all of the steps in the above method of the present application.
  • the present application can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) with executable code (or computer program, or computer instruction code) stored thereon. ), when the executable code (or computer program, or computer instruction code) is executed by the processor of the electronic device (or electronic device, server, etc.), causing the processor to execute part or all of the steps of the above method according to the present application .

Abstract

一种拣选系统、控制装置及控制方法。该拣选系统包括上层输送线（1）和下层输送线（2），所述上层输送线（1）和所述下层输送线（2）的输送方向一侧设有第一拣选站（3），另一侧设有第二拣选站（4）；卸料机（5），用于向上层输送线（1）和下层输送线（2）提供待拣选料箱，使得所述上层输送线（1）和所述下层输送线（2）将所述待拣选料箱输送至所述第一拣选站（3）和所述第二拣选站（4）处以供拣选；上料机（6），用于回收所述上层输送线（1）和所述下层输送线（2）输送的拣选后料箱。本技术方案提供的拣选系统、控制装置及控制方法，合理利用拣选区面积，以提升拣选的效率。

Description

拣选系统、控制装置及控制方法 技术领域
本申请涉及智能物流技术领域，尤其涉及一种拣选系统、控制装置及控制方法。
背景技术
随着人工智能、物流自动化的发展，作为其中重要一环的智能仓储技术也越来越成熟。而对于智能仓储来说，所设置的拣选工作站代替了原有的完全由人工操作的拣选，提高拣选效率。而对于所布置的拣选工作站，一般需要占用较大的空间作为拣选空间，使得拣选工作站所占用的面积较大。利用拣选工作站进行拣选工作时供箱量无法满足人工拣选工序的需求，拣选工作站的效率较低且对所占用的较大空间造成了浪费。
发明内容
为克服相关技术中存在的问题，本申请提供一种拣选系统、控制装置及控制方法，合理利用拣选区面积，以提升拣选的效率。
本申请第一方面提供一种拣选系统，该拣选系统包括：
上层输送线和下层输送线，所述上层输送线和所述下层输送线的输送方向一侧设有第一拣选站，另一侧设有第二拣选站；
卸料机，用于向上层输送线和下层输送线提供待拣选料箱，使得所述上层输送线和所述下层输送线将所述待拣选料箱输送至所述第一拣选站和所述第二拣选站处以供拣选；
上料机，用于回收所述上层输送线和所述下层输送线输送的拣选后料箱。
在一种实施方式中，所述卸料机具有上层出料口和下层出料口，所述上层出料口用于向所述上层输送线提供所述待拣选料箱，所述下层出料口用于向所述下层输送线提供所述待拣选料箱；和/或，
所述上料机具有上层收料口和下层收料口，所述上层收料口用于回收所述上层输送线输送的所述拣选后料箱，所述下层收料口用于回收所述下 层输送线输送的所述拣选后料箱。
在一种实施方式中，所述卸料机具有上层出料口和下层出料口，所述上料机具有上层收料口和下层收料口，所述下层输送线和所述上层输送线沿输送方向的一端分别对接所述卸料机的下层出料口和上层出料口，另一端分别对接所述上料机的下层收料口和上层收料口。
在一种实施方式中，所述上层输送线和下层输送线至少其中之一在沿输送方向一侧设有拣选线；
所述系统还包括至少一个移载机构，用于在上层输送线或下层输送线与所述拣选线之间转移所述待拣选料箱。
在一种实施方式中，所述下层输送线在沿输送方向一侧设有下层拣选线，所述下层拣选线位于所述上层输送线沿输送方向的一侧且低于所述上层输送线；
所述系统还包括至少一个移载机构，用于在所述下层输送线与所述下层拣选线之间转移所述待拣选料箱，或用于在所述上层输送线与所述下层拣选线之间转移所述待拣选料箱；
所述第一拣选站与所述下层拣选线相邻，以便所述下层拣选线上的待拣选料箱被直接拣选；
所述第二拣选站与所述上层输送线相邻，以便所述上层输送线上的待拣选料箱被直接拣选。
在一种实施方式中，所述第二拣选站设有踏台，使得所述第二拣选站的站立面高于所述第一拣选站的站立面。
在一种实施方式中，所述上层输送线与所述下层输送线的输送方向相同；
所述下层拣选线的输送方向与所述下层输送线的输送方向相反或相同。
在一种实施方式中，所述至少一个移载机构包括第一移载机构和第二移载机构；
所述第一移载机构和所述第二移载机构分设于所述拣选线沿输送方向的两端；
所述第一移载机构用于将所述下层输送线或所述上层输送线上的所 述待拣选料箱转移至所述拣选线以供拣选，所述第二移载机构用于将所述拣选线的所述拣选后料箱转移至所述下层输送线或所述上层输送线。
在一种实施方式中，所述上层输送线与所述下层输送线的输送方向相同；
所述下层输送线在沿输送方向一侧设有下层拣选线，所述上层输送线在沿输送方向一侧设有上层拣选线，所述上层拣选线和所述下层拣选线异侧设置；
所述系统还包括移载机构，用于在所述下层输送线与所述下层拣选线之间转移所述待拣选料箱，或用于在所述上层输送线与所述上层拣选线之间转移所述待拣选料箱，
并且，所述移载机构还能够在竖直方向往复运动，用于在所述上层输送线或所述上层拣选线与所述下层输送线之间转移所述待拣选料箱，或用于在所述下层输送线或下层拣选线与所述上层输送线之间转移所述待拣选料箱；
所述第一拣选站与所述下层拣选线相邻，以便所述下层拣选线上的所述待拣选料箱被直接拣选；
所述第二拣选站与所述上层拣选线相邻，以便所述上层输送线上的所述待拣选料箱被直接拣选。
在一种实施方式中，所述系统还包括空箱投放模块，用于通过所述上层输送线和/或所述下层输送线向所述第一拣选站和/或所述第二拣选站提供空箱；和/或，
所述系统还包括收集装置，至少通过所述上层输送线和/或所述下层输送线收集所述第一拣选站和/或所述第二拣选站的订单箱，或者自所述上层输送线和/或所述下层输送线收集异常箱。
在一种实施方式中，所述系统包括所述空箱投放模块和所述收集装置；
所述卸料机和所述上料机分设于所述下层输送线和所述上层输送线沿输送方向的两端，所述空箱投放模块和所述收集装置分设于所述下层输送线和所述上层输送线沿输送方向的两端；
所述卸料机与所述空箱投放模块分设于所述下层输送线和所述上层输送线沿输送方向的两侧，所述上料机与所述收集装置分设于所述下层输 送线和所述上层输送线沿输送方向的两侧。
在一种实施方式中，所述第二拣选站设有空箱缓存位；
所述系统还包括空箱投放模块，所述空箱投放模块具有空箱投线口，所述空箱投线口与所述下层输送线对接，以通过所述下层输送线向所述空箱缓存位提供空箱。
在一种实施方式中，所述第二拣选站还设有第一检测装置，用于检测所述空箱缓存位是否有空箱；
所述系统被配置为在所述第一检测装置输出表示空箱缓存位没有空箱的检测信号后，使所述空箱投放模块通过所述空箱投线口向所述下层输送线投放空箱。
在一种实施方式中，所述第二拣选站设有订单箱投线位；
所述系统还包括收集装置，所述收集装置具有订单箱收集口；
所述订单箱收集口与所述下层输送线对接，以收集自所述订单箱投线位投放至所述下层输送线的订单箱。
在一种实施方式中，所述第二拣选站还设有第二检测装置，用于检测所述订单箱拣选完毕触发信号；
所述系统被配置为在所述第二检测装置检测到所述订单箱拣选完毕触发信号后，使所述收集模块通过所述订单箱收集口收集自所述订单箱投线位投放至所述下层输送线输送的拣选完毕订单箱。
在一种实施方式中，所述系统还包括跨设于所述上层输送线上方的跨梯，所述跨梯与所述第二拣选站相通。
本申请第二方面提供一种拣选系统的控制方法，该控制方法包括：
控制卸料机向上层输送线和下层输送线传输待拣选料箱，所述上层输送线和所述下层输送线的输送方向一侧设有第一拣选站，另一侧设有第二拣选站；
控制所述上层输送线和所述下层输送线将所述待拣选料箱输送至所述第一拣选站和/或所述第二拣选站处以供拣选；
控制所述上层输送线和下层输送线将拣选后料箱输送至上料机。
在一种实施方式中，所述控制卸料机向上层输送线和下层输送线传输待拣选料箱，包括：
控制所述卸料机的上层出料口向所述上层输送线传输所述待拣选料箱，控制所述卸料机的下层出料口向所述下层输送线传输所述待拣选料箱。
在一种实施方式中，所述控制所述上层输送线和下层输送线将拣选后料箱输送至上料机，包括：
控制所述上层输送线将拣选后料箱输送至所述上料机的上层收料口，控制所述下层输送线将拣选后料箱输送至所述上料机的下层收料口。
在一种实施方式中，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
控制所述上层输送线将待拣选料箱输送至与所述上层输送线相邻的所述第二拣选站处，以使所述上层待拣选料箱在所述第二拣选站处被拣选；
控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以使所述待拣选料箱在所述下层拣选线的所述第一拣选站处被拣选；其中，所述下层拣选线设于所述下层输送线沿输送方向一侧。
在一种实施方式中，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
控制所述上层输送线将待拣选料箱通过移载位移载至上层拣选线，以使所述待拣选料箱在所述上层拣选线的所述第二拣选站处被拣选；
控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以控制所述待拣选料箱在所述下层拣选线的所述第一拣选站处被拣选；其中，所述下层拣选线设于所述下层输送线沿输送方向一侧，所述上层拣选线设于所述上层输送线沿输送方向一侧，所述上层拣选线和所述下层拣选线异侧设置。
在一种实施方式中，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
控制所述上层输送线将待拣选料箱输送至与所述上层输送线相邻的所述第二拣选站处，以使所述待拣选料箱在所述第二拣选站处被初次拣选；以及，将经过所述初次拣选的所述待拣选料箱通过移载位输送至下层拣选线，使经过所述初次拣选的所述待拣选料箱在所述下层拣选线的所述第一拣选站处被再次拣选；和/或，
控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以 使所述待拣选料箱在所述下层拣选线的所述第一拣选站处被初次拣选；以及，将经过所述初次拣选的所述待拣选料箱通过移载位移载至上层输送线，使经过所述初次拣选的所述下层待拣选料箱在与所述上层输送线相邻的所述第二拣选站处被再次拣选。
在一种实施方式中，控制空箱投放模块向所述下层输送线投放空箱，并控制所述下层输送线输送空箱至所述第二拣选站对应的空箱缓存位。
在一种实施方式中，还包括：
控制所述下层输送线输送所述第二拣选站的订单箱投线位投放的订单箱至收集模块，和/或，
控制所述上层输送线和/或下层输送线输送异常箱至所述收集模块。
本申请第三方面提供一种拣选系统的控制装置，该控制装置包括：
至少一个处理器；以及
至少一个存储器，其上存储有可执行代码，当所述可执行代码被所述至少一个处理器执行时，使所述至少一个处理器执行如上述中所描述的方法。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
通过结合附图对本申请示例性实施方式进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显，其中，在本申请示例性实施方式中，相同的参考标号通常代表相同部件。
图1是本申请实施例示出的一种拣选系统的俯视图；
图2是图1所示拣选系统的左视方向的简单示意图；
图3是图1所示拣选系统的后视方向的简单示意图；
图4是本申请实施例示出的另一种拣选系统俯视图；
图5是本申请实施例示出的拣选系统的控制方法流程图。
本发明的实施方式
下面将参照附图更详细地描述本申请的实施方式。虽然附图中显示了 本申请的实施方式，然而应该理解，可以以各种形式实现本申请而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本申请更加透彻和完整，并且能够将本申请的范围完整地传达给本领域的技术人员。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语“第一”、“第二”、“第三”等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请提供了一种拣选系统，该拣选系统可以应用于物流、仓储等需要对货物进行拣选的领域，在此不做具体限定。以下以将拣选系统应用于智能仓储领域的可以根据订单进行拣选货物的拣选系统为例进行详细说明。
参见图1至图3，本申请一实施例的拣选系统，该拣选系统布置于仓库中的拣选区域，用于根据需求将存储在仓库中的料箱流转至拣选区域以完成拣选工作。
拣选系统包括上层输送线1和下层输送线2，上层输送线1和下层输送线2的输送方向(如图2中箭头L所指方向，后续不再单独强调)一侧设有第一拣选站3，另一侧设有第二拣选站4。可选的，沿输送线垂直于输送方向的两侧分别布置第一拣选站3和第二拣选站4，且两个输送线的输送方向相同，上层输送线1可以位于下层输送线2正上方但不限于此，能够通过两层的输送线同时输送待拣选料箱。双层的输送线输送待拣选料箱的方式使得拣选站能够相对布置于输送线相对的两侧，在不影响两个拣选站中拣选人员的拣选工作的同时，相对两侧拣选站的设置与单侧双拣选 位的设置相比，明显缩短了待拣选料箱在输送线的传输距离，减小了输送线在输送方向布置的长度需求，节约了其占用的面积。可以理解的，上层输送线1和下层输送线2的输送方向不限于相同，在实际应用中也可视实际需要设置为反向。
可以理解的是，一实施例中，待拣选料箱为仓库中存储有货物的料箱，根据订单所需的货物信息，将料箱运送至拣选区域以作为待拣选料箱。且在上层输送线1和下层输送线2输送待拣选料箱时，能够将待拣选料箱输送至第一拣选站3和第二拣选站4以根据订单需求进行拣选，待拣选料箱经拣选后成为拣选后料箱。
参见图1，拣选系统还包括卸料机5和上料机6，卸料机5用于向上层输送线1和下层输送线2提供待拣选料箱，使得上层输送线1和下层输送线2将待拣选料箱输送至第一拣选站3和第二拣选站4处以供拣选。上料机5用于回收上层输送线1和下层输送线2输送的拣选后料箱。通过所设置的两层输送线分别对接卸料机5和上料机6，使得分别位于两个拣选站的拣选人员能够在输送线的两侧分别从两个输送线上输送的待拣选料箱中获取到所需的拣选货物，以及将拣选后的拣选后料箱经上料机6回收。
卸料机5和上料机6分别对接上层输送线1和下层沿输送线2的输送方向两端，输送方向为由卸料机5方向到上料机6方向，使得由卸料机5导出的待拣选料箱进入上层输送线1和下层输送线2，经由上层输送线1和下层输送线2将拣选后料箱回收至上料机6。
可选的，卸料机5可以作为在拣选区域缓存以及能够向两层输送线提供待拣选料箱的设备，上料机6可以作为从两层输送线回收并缓存拣选后料箱的设备，以供将拣选后料箱运回至仓库货架中原始的位置或新的位置存储。对于卸料机5和上料机6的具体结构以及实现方式，在此不做详细说明。
在一可选实施例中，参见图1，卸料机5和上料机6中的至少一者设有双层开口，以对应于上层输送线1和下层输送线2。
一实施例中，卸料机5具有双层开口，卸料机5具有上层出料口501和下层出料口502，上层出料口501用于向上层输送线1提供待拣选料箱，下层出料口502用于向下层输送线2提供待拣选料箱。
一实施例中，上料机6具有双层开口，上料机6具有上层收料口601和下层收料口602，上层收料口601用于回收上层输送线1输送的拣选后料箱，下层收料口602用于回收下层输送线2输送的拣选后料箱。
一实施例中，下层输送线2和上层输送线1沿输送方向的一端分别对接卸料机5的下层出料口502和上层出料口501，另一端分别对接上料机6的下层收料口和上层收料口。
所设置的通过双层开口同时向两层输送线提供待拣选料箱和/或同时从两层输送线回收拣选后料箱的方式，以实现两个输送线的同时输入和/或同时输出，有利于提升向两个输送线提供待拣选料箱以及回收拣选后料箱的效率，在提高了两个拣选站对输送线上待拣选料箱的拣选效率的同时，提高回收拣选后料箱的效率，避免拥堵在输送线上。提高运转的效率。
可选的，卸料机5和上料机6所设置的开口在向输送线提供待拣选料箱或回收拣选后料箱时，对应每个开口位置设有与输送线对接的传送带，该传送带的传送方向与输送线的输送方向相互垂直，以便于箱子能够在输送线和传送带之间转换。可以理解的是，上述中所提及到的用于与输送线对接的传送带，也可以设置为相同的输送线，在此不做具体限定。
本申请以上层输送线1和下层输送线2所对接的均为双层开口的卸料机和上料机为例。对如何使上层输送线1和下层输送线2将待拣选料箱输送至第一拣选站3和第二拣选站4处以供拣选进行详细说明。
在一实施例中，上层输送线1和下层输送线2至少其中之一在沿输送方向一侧设有拣选线；系统还包括至少一个移载机构，用于在上层输送线1或下层输送线2与拣选线之间转移待拣选料箱。通过在上层输送线1和下层输送线2至少一者的一侧设置拣选线的方式，避免在将待拣选料箱输送到相对两侧设置的第一拣选站3和第二拣选站4以供拣选时，处于上下双层布置的输送线对拣选的工作阻碍，进而影响拣选效率。移载机构能够将待拣选料箱在输送线和拣选线之间转移，第一拣选站3和第二拣选站4中的至少一者通过对拣选线上的待拣选料箱进行拣选工作，使得相对设置于两侧的拣选站均能够高效、稳定的完成拣选工作。
在一具体实施例中，参见图1，下层输送线2在沿输送方向一侧设有下层拣选线7，下层拣选线7位于上层输送线1沿输送方向的一侧且低于 上层输送线1；移载机构用于在下层输送线2与下层拣选线7之间转移待拣选料箱。第一拣选站3与下层拣选线7相邻，以便下层拣选线7上的待拣选料箱被直接拣选；第二拣选站4与上层输送线1相邻，以便上层输送线1上的待拣选料箱被直接拣选。通过此种在下层输送线2的一侧设置下层拣选线7的方式，避免了待拣选料箱在下层输送线上被直接拣选，从而避免相对设置的第一拣选站3和第二拣选站4在拣选过程中相互干涉，避免第一拣选站3处的拣选受到上层输送线1的限制，提高效率且保证第一拣选站3处的操作安全。并且，通过在下层拣选线7设置的移载机构，能够根据需求将待拣选料箱移入或移出下层拣选线，以供下层拣选线7的待拣选料箱直接被第一拣选站3拣选或从下层输送线2将第一拣选站3拣选后的拣选后料箱回收至上料机6中。
在一可选实施例中，移载机构可以用于在上层输送线1与下层拣选线2之间转移待拣选料箱。当被第一拣选站3拣选后的料箱或者被第二拣选站4拣选后的料箱中所剩余的货物仍能满足另一拣选站的拣选需求，可以通过所设置的移载机构，将该经过拣选站拣选后的待拣选料箱转移至另一输送线或拣选线，以供另一拣选站进行拣选，能够对待拣选料箱中的货物进行充分的拣选。例如，当待拣选料箱经由卸料机5的双层开口进入上层输送线1和下层输送线2，拣选人员在第二拣选站4处直接对上层输送线1上的待拣选料箱进行拣选，通过移载机构将待拣选料箱移入下层拣选线7，拣选人员在第一拣选站3处对下层拣选线7的待拣选料箱进行拣选。当下层拣选线7的待拣选料箱被拣选后，若该拣选后的料箱同样是第二拣选站4的需求料箱，则通过移载机构将该料箱转送至上层输送线1，以在第二拣选站4处对该料箱进行拣选。上层输送线1经第二拣选站4拣选的待拣选料箱同理，在此不做详细说明。当第一拣选站3和/或第二拣选站4对待拣选料箱完成拣选时，得到拣选后料箱，通过拣选后料箱此时所处在的上层输送线1或下层输送线2将其回收至上料机6。
在上述实施例的基础上，上层输送线1在沿输送方向一侧还可以设有上层拣选线，上层拣选线和下层拣选线7异侧设置，移载机构还用于在上层输送线1与上层拣选线之间转移待拣选料箱，第二拣选站4与上层拣选线相邻，以便上层输送线1上得待拣选料箱被直接拣选。
可以理解的是，当第二拣选站4直接对相邻的上层输送线1上的待拣选料箱进行拣选时，为了便于位于两侧的两个拣选站的拣选人员进行拣选工作，第一拣选站3的站立面例如可以直接为地面，下层拣选线7设置为便于第一拣选站3拣选人员拣选的高度。第二拣选站4设有踏台，拣选人员站立在踏台上，使得第二拣选站4的站立面高于第一拣选站3的站立面，以便于能够直接对上层输送线1或上层拣选线上的待拣选料箱直接进行拣选工作。
可选的，上层输送线1与下层输送线2的输送方向相同，移载机构用于将料箱在下层输送线2和下层拣选线7之间转移时，下层拣选线7的输送方向与下层输送线2的输送方向可以相反，也可以相同，在此不做具体限定。而当料箱需要在下层拣选线7和上层输送线1之间转移时，下层拣选线7的输送方向与下层输送线2的输送方向设置为相反。以能够使得第一拣选站3从下层拣选线7对待拣选料箱拣选、第二拣选站4从上层输送线1对待拣选料箱拣选的同时，通过所设置的移载机构能够满足下层拣选线7的料箱能够在下层输送线2或上层输送线1之间的转移需求。
在一具体实施例中，对于所设置的移载机构，至少包括第一移载机构702和第二移载机构701，第一移载机构702和第二移载机构701分设于拣选线沿输送方向的两端；第一移载机构702用于将下层输送线2或上层输送线1上的待拣选料箱转移至拣选线以供拣选，第二移载机构701用于将拣选线的拣选后料箱转移至下层输送线2或上层输送线1。
可选的，拣选线设置于下层输送线2的一侧，记为下层拣选线7。下层拣选线7和下层输送线2的方向相反，沿下层拣选线7运送待拣选料箱的方向，第二移载机构701位于第一移载机构702前面。第一移载机构702包括第一升降部和第一移载部，第一升降部和第一移载部带动料箱运动的方向相互垂直，第一升降部用于将上层输送线1的拣选后料箱下放到下层拣选线7，以供第一拣选站3进行拣选，第一移载部用于将下层输送线2的待拣选料箱推入下层拣选线7。第二移载机构701包括第二升降部和第二移载部，第二升降部和第二移载部带动料箱运动的方向相互垂直，第二移载部用于将下层拣选线7的拣选后料箱推至下层输送线2，第二升降部用于将下层拣选线7的拣选后料箱上提至上层输送线1，以供第二拣选站 4进行拣选。第一升降部和/或第二升降部例如可以包括设有放置平台且沿竖直方向带动放置平台运动的气缸、丝杠螺母副等，第一移载部和/或第二移载部例如可以包括推块以及沿水平方向驱动推块往复运动的气缸、丝杠螺母副等，在此不做具体限定。
可以理解的是，第一升降部和第二升降部可以相同，也可以不同，第一移载部和第二移载部可以相同，也可以不同，对于升降部和移载部具体的结构配合，在此不做详细说明。
在一具体实施例中，仅在下层输送线2的一侧设置下层拣选线7时，下层拣选线7沿输送方向两端设置移载位，两个移载位分别用于放置第一移载机构702和第二移载机构701，第二移载机构701位于靠近卸料机5的一侧，移载机构能够带动料箱在水平方向运动以在下层拣选线7与下层输送线2之间运动，也能够带动料箱在竖直方向、水平方向以在下层拣选线7和上层输送线1之间运动。具体工作过程如下：卸料机5通过上层出料口501和下层出料口502分别向上层输送线1和下层输送线2提供待拣选料箱，在上层的待拣选料箱输送至上层输送线1对应第二拣选站4的位置时，工作人员能够根据需求从待拣选料箱中拣选所需的货物；下层的待拣选料箱输送至下层输送线2对应第一移载机构702的动作范围内时，通过第一移载机构702的动作将该下层输送线2的待拣选料箱移动至下层拣选线7，下层拣选线7与下层输送线2相反的运动方向使得待拣选料箱能够重新运动至第一拣选站3对应的位置，工作人员能够根据需求从待拣选料箱中拣选所需的货物。当经第一拣选站3拣选后的料箱继续运动至第二移载机构702的动作范围时，判断该料箱内的货物是否存在第二拣选站4所需的货物，若是，则使第二移载机构702执行带动料箱竖直向上运动至对应上层输送线1的一侧，再通过第二移载机构702的水平动作以带动该料箱进入上层拣选线1，并随着上层拣选线1进入第二拣选站4以供拣选，若否，则使第二移载机构702在对应下层拣选线7的位置执行带动料箱水平方向的运动，以带动该料箱从下层拣选线7进入下层输送线2。同样的，若经第二拣选站4拣选后的料箱存在第一拣选站3所需的货物，在该料箱运动至上层输送线1对应第二移载机构702的动作范围时，第二移载机构702竖直向上运动至对应上层输送线1的一侧，将该料箱移动至移载位， 并带动料箱竖直向下运动至下层拣选线7对应的位置，推动该料箱进入下层拣选线7，以供工作人员进行拣选。当拣选后的料箱不被其他拣选站所需要时，料箱会随着对应层输送线的运动被上料机6回收，从而充分拣选输送线上待拣选料箱中的货物，以提高拣选效率。
在一可选实施例中，参见图4，上层输送线1和下层输送线2分别在沿输送方向一侧设有拣选线，上层输送线1和下层输送线2的输送方向相同。即下层输送线2在沿输送方向一侧设有下层拣选线7，上层输送线1在沿输送方向一侧设有上层拣选线101，上层拣选线101和下层拣选线7异侧设置。第一拣选站3与下层拣选线7相邻，以便下层拣选线7上的待拣选料箱被直接拣选；第二拣选站4与上层拣选线101相邻，以便上层输送线1上的待拣选料箱被直接拣选。系统还包括移载机构，用于在下层输送线2与下层拣选线7之间转移待拣选料箱，或用于在上层输送线1与上层拣选线101之间转移待拣选料箱。并且，移载机构还能够在竖直方向往复运动，用于在上层输送线1或上层拣选线101与下层输送线2之间转移待拣选料箱，或用于在下层输送线2或下层拣选线7与上层输送线1之间转移待拣选料箱。
可以理解的是，为了能够使得移载机构同时满足上述的需求，故可以将移载机构设置于输送线沿输送方向靠近尾端的位置(即靠近出料口的一侧)。当下层拣选线7上拣选后的料箱存在上层拣选线101拣选所需的货物时，移载机构竖直向下运动至对应下层输送线2一侧的位置，该料箱经下层拣选线7被传送回下层输送线2后并随下层输送线2运动至对应移载机构的位置时，移载机构能够将推动料箱横向运动以移载至移载位，并通过移载机构带动料箱竖直向上运动至上层输送线1一侧的位置，再利用移载机构将料箱水平推送至上层输送线1，以便于能够传送至上层拣选线101进行拣选。当上层拣选线101拣选后的料箱存在下层拣选线7所需的货物时，移载机构竖直向上运动至对应上层输送线1一侧的位置，该料箱经上层拣选线101被传送回上层输送线1前，位于一侧的移载机构能够推动该料箱横向运动以进入移载位，从而使得移载机构带动料箱竖直向下运动至下层输送线2的一侧，再通过移载机构带动料箱横向运动，以将料箱移载至下层输送线2，以便于通过下层输送线2将该料箱输送至下层拣选线7 以供拣选。
可选的，对于所设置的移载机构，其具体结构以及如何实现对应的运动可参见上述实施例中的移载机构，并且，对于移载机构来说，只要能够实现上述所需的功能即可，在此不做详细说明。
另外，根据需求可以将移载机构设置于拣选线输送方向靠近出料口的一侧，使得移载机构在能够实现竖直方向运动以在上下两层之间往复运动的同时，也能够根据需求将待拣选料箱流转至输送线或拣选线，在此不做详细说明。
在一具体实施例中，在设置下层拣选线7的基础上，对应上层输送线1的一侧设置上层拣选线101，下层拣选线7和上层拣选线101异侧设置，拣选线的运动方向与输送线的运动方向相反。上层拣选线101靠近卸料机5的一端设置移载位1011，且该移载位1011能够沿竖直方向运动，能够沿竖直方向运动至上层拣选线101靠近卸料机5的一端和至下层拣选线7与下层输送线2平齐的一侧，且此状态下的移载位1011可以与下层拣选线7的一端相对设置在下层输送线2两侧。移载位1011设置有移载机构，移载机构能够带动料箱水平运动以将料箱推动至下层输送线2或上层输送线1。具体工作过程如下：卸料机5通过上层出料口501和下层出料口502分别向上层输送线1和下层输送线2提供待拣选料箱，在上层输送线1的待拣选料箱输送至对应上层拣选线101远离卸料机5的一端时，控制推动该位置的待拣选料箱进入上层拣选线101，上层拣选线101经与输送线相反的运动带动待拣选料箱进入第二拣选站4，工作人员能够根据需求从待拣选料箱中拣选所需的货物；从卸料机5向下层输送线2输送的待拣选料箱运动至下层拣选线7远离卸料机5的一端时，控制推动该位置的待拣选料箱进入下层拣选线7，下层拣选线7经与输送线相反的运动带动待拣选料箱进入第一拣选站3，工作人员能够根据需求从待拣选料箱中拣选所需的货物。当经由第二拣选站4拣选后的料箱继续在上层拣选线101运动的过程中，判断该料箱中的货物是否存在第一拣选站3所需的货物，若是，则使移载位1011带动移载机构竖直向上运动至上层拣选线101靠近卸料机5一端的端部，移载机构通过带动该料箱水平方向的运动使上层拣选线101的料箱进入移载位1011，移载位1011带动移载机构以及料箱竖直向 下运动至下层输送线2与下层拣选线7一端相对的一侧。且通过移载机构推动该料箱水平运动至下层输送线2，以便于该料箱能够通过下层输送线2再进入下层拣选线7完成拣选；若否，则推动料箱回到上层输送线1至流转入上料机4内。同样的，当经由第一拣选站3拣选后的料箱继续在下层拣选线7运动的过程中，判断该料箱中的货物是否存在第二拣选站4所需的货物，若是，则使移载位1011带动移载机构竖直向下运动至下层输送线1的一侧，移载机构通过带动下层拣选线7端部的料箱进入移载位1011，通过移载位1011竖直向上的运动以将料箱带动至上层拣选线101的一侧，并通过移载机构带动该料箱水平运动至上层输送线1，重复完成拣选；若否，则推动料箱回到下层输送线2至流转入上料机4内。从而充分拣选输送线上待拣选料箱中的货物，以提高拣选效率。
在一实施例中，系统还包括空箱投放模块8和收集装置9中的至少一者，空箱投放模块8用于通过上层输送线1和/或下层输送线2向第一拣选站3和/或第二拣选站4提供空箱。收集装置9至少通过上层输送线1和/或下层输送线2收集第一拣选站3和/或第二拣选站4的拣选完成后的订单箱，或者自上层输送线1和/或下层输送线2收集异常箱。利用第一拣选站3和第二拣选站4能够通过上层输送线1和下层输送线2对其上的待拣选料箱拣选的特性，可以利用上层输送线1和下层输送线2向第一拣选站3和第二拣选站4提供空箱，也可以利用上层输送线1和下层输送线2从第一拣选站3和第二拣选站4收集经拣选完成后的订单箱。无需进入第一拣选站3和第二拣选站4以转入空箱、转出订单箱或异常箱，合理利用输送线，避免第一拣选站3和第二拣选站4中存在不便于进出的情况下，能够满足拣选工作的正常流转，保证作业流程的顺畅。空箱投放模块8和/或收集装置9例如可以包括但不限于传送带。
当系统设置空箱投放模块8和收集装置9时，卸料机5和上料机6分设于下层输送线2和上层输送线1沿输送方向的两端，空箱投放模块8和收集装置9分设于下层输送线2和上层输送线1沿输送方向的两端。卸料机5与空箱投放模块8分设于下层输送线2和上层输送线1沿输送方向的两侧，上料机6与收集装置9分设于下层输送线2和上层输送线1沿输送方向的两侧。
可选的，相对设置的卸料机5和空箱投放模块8能够通过与输送线垂直设置的传送带对接输送线的方式，以根据需求向上层输送线1和/或下层输送线2输提供空箱或待拣选料箱，以供对应的第一拣选站3和/或第二拣选站4拣选或收集空箱。相对设置的上料机6和收集装置9同样也可以通过设置的传送带对接的方式完成，在此不做详细说明。
可以理解的是，对于所设置的空箱投放模块8和收集装置9，可以仅通过设置对接输送线的传送带来实现，工作人员向传送带投放空箱以流转至输送线或通过输送线将订单箱推送至与上料机6一侧的传送带。或者，也可以通过设置的其他配合结构来实现，在此不做具体限定。
在一可选实施方式中，在将系统布置于拣选区域时，沿输送线输送方向的两侧划分的第一区域和第二区域分别布置第一拣选站3和第二拣选站4，而由于第二区域属于库区，不能来回走动，会和机器人发生碰撞避让等。所以设置了空箱流转模块8和收集装置，工作人员只需维持在第二拣选站4的固定位置不动即可，避免出现安全问题。具体的，第二拣选站4设有空箱缓存位401，空箱投放模块8具有空箱投线口，通过空箱投线口与下层输送线2对接，以通过下层输送线2向空箱缓存位401提供空箱。第二拣选站4设有订单箱投线位402，收集装置9具有订单箱收集口，订单箱收集口与下层输送线2对接，以收集自订单箱投线位402投放至下层输送线2的订单箱。
可以理解的是，对于所设置的空箱缓存位401和订单箱投线位402，为了节约空间，两者可以合并设置于同一槽位。第二拣选站4中订单箱投线位402上的某一订单完成拣选装箱或堆放到一定数量时，可以通过设置于订单箱投线位402的按钮来控制停止拣选工作，工作人员可以将槽位中的订单箱投放至上层输送线和/或下层输送线，用于向输送线投放订单，从而使订单箱进入收集装置9。待订单箱从订单箱投线位402流走以后，将空箱放置在刚才订单箱的槽位上，以使空箱绑定新的订单后，以便于工作人员根据订单从待拣选料箱中拣选物料到箱子以得到订单箱。此种利用输送线完成第二拣选站4的空箱输送和订单箱的转出，合理利用空间结构布局，提高拣选区面积利用率的同时，解决相对设置的拣选站空箱、订单箱不便流转的问题，保证拣选作业的流畅。
当空箱缓存位401和订单箱投线位402设于不同槽位时，第二拣选站4设置的货架包括设置于踏台两侧的第一货架403和第二货架404，第一货架403设置有空箱缓存位401，即上述中用于放置空箱后能绑定订单信息的槽位，工作人员能够从第一货架403获取空箱并根据上面绑定的订单信息从待拣选料箱中拣选物料。并将拣选完成后的订单箱暂存在第二货架404，待第二货架404的订单箱足够多或该批订单完成后，可以通过第二货架404设置的订单箱投线位402将订单箱流转出。
可选的，第一拣选站3同样设有相对布置的货架。第一拣选站3与第二拣选站4相比，具有便于进出的开放区，工作人员或机器能够方便的向货架补充空箱或移出订单箱，所设置的第一拣选站3无需对接空箱投放模块8和收集模块9。
而为了便于拣选人员进入被设备包围的第二拣选站4以完成拣选工作，系统还包括跨设于上层输送线1上方的跨梯10，跨梯10与第二拣选站4相通。
在一实施例中，系统中的各部分设备可以分别通过网络连接至控制装置，通过控制装置发送的相应指令能够分别控制各部分执行相应的动作，该网络可以是有线网络，也可以是无线网络，在此不做具体限定。可以理解的是，控制装置可以包括一个或多个终端、和/或一个或多个服务器。
控制装置至少用于发送第一启动指令、第二启动指令以及第三启动指令，卸料机5用于接收第一启动指令，并根据第一启动指令将待拣选料箱从上层出料口501和下层出料口502分别输入至上层输送线1和下层输送线2对应的拣选站。上料机6用于接收第二启动指令，并根据第二启动指令将上层输送线1和下层输送线2的拣选后料箱从上层收料口和下层收料口进入以回收。上层输送线1、下层输送线2以及下层拣选线7用于接收第三启动指令，用于启动两个输送线同向运动、下层拣选线7与下层输送线2反向运动，且同向运动的运动方向为从卸料机5的方向向上料机6的方向运动。
拣选人员在第一拣选站3和第二拣选站4进行拣选工作时，输送线输送待拣选料箱的过程中，控制装置向第一移载机构702和第二移载机构701发出动作指令，第一移载机构702和第二移载机构701通过接收的动 作指令实现对应的动作，以使下层输送线2或上层输送线1的待拣选料箱移入下层拣选线7被第一拣选站3拣选、下层拣选后经第一拣选站3拣选后的待拣选料箱进入上层输送线1被第二拣选站4拣选。控制装置可以根据待拣选料箱在输送线、拣选线上运转的情况以及待拣选料箱中剩余的货物信息来控制第一移载机构702和第二移载机构701的动作，使得两个移载机构能够根据动作指令完成对待拣选料箱在输送线、拣选线之间运转的轨迹，至待拣选料箱中剩余的货物无法被另一见拣选站拣选而作为拣选后料箱被上料机6回收，以充分拣选输送线上待拣选料箱中的货物，以提高拣选效率。
可以理解的是，第一拣选站3和第二拣选站4在对待拣选料箱进行拣选的过程中，拣选人员需要将拣选的货物装进空箱中，以得到拣选完成料箱。空箱外表面例如可以贴有二维码、标签等信息，拣选人员可以通过从该处获取相应的货物信息，以根据需求进行拣选，得到贴有二维码、标签等信息的订单箱。可选的，对于每个拣选站中各个空箱所贴的货物信息可以相同也可以不同，两个拣选站之间的投放的空箱上贴有的货物信息可以相同也可以不同，在此不做具体限定。为了提高拣选效率，一次需要完成一批次订单箱的拣选，即两个拣选站中所拣选的货物相同，以得到相同的订单箱。
在一可选实施例中，第二拣选站4还设有第一检测装置，用于检测空箱缓存位401是否有空箱，控制装置用于接收没有空箱的检测信号。系统被配置为在第一检测装置输出表示空箱缓存位401没有空箱的检测信号后，控制装置控制空箱投放模块8启动，使空箱投放模块8通过空箱投线口向下层输送线2投放空箱。在控制装置控制空箱投放模块启动时，向卸料机5得下层出料口502发送第一停止命令，下层输送线2用于向第二拣选站4投放空箱。至第一检测装置检测到空箱缓存位401满位时，向控制装置发出满箱信号，控制装置控制空箱投放模块8停止、卸料机5重新启动向下层输送线2投放待拣选料箱，第一拣选站3和第二拣选站4继续拣选工作。第一检测装置例如可以包括设于空箱缓存位401的光电传感器。
可选的，空箱缓存位401和第二移载机构701相对设置，当空箱被下层输送线2带动至对应空箱缓存位401位置时，通过控制第二移载机构701 能够将空箱推入空箱缓存位401。
第二拣选站4还设有第二检测装置，用于检测订单箱拣选完毕触发信号，控制装置用于接收触发信号，系统被配置为在第二检测装置检测到订单箱拣选完毕触发信号后，控制装置用于接收触发信号，控制收集模块9启动，并根据该触发信号控制卸料机5停止向下层输送线2输送待拣选料箱，使收集模块9通过订单箱收集口收集自订单箱投线位投放至下层输送线输送的拣选完毕订单箱。例如，第二检测装置可以为按钮检测电路，用于检测例如设置于第二货架404的按钮被按下时产生的订单箱拣选完毕触发信号。当存放的订单箱放满货架或即将放满时，可以通过拍下按钮以启动收集装置、并控制卸料机5停止向下层输送线2输送待拣选料箱。下层输送线2用于将通过订单箱投线位402投放的订单箱输送至收集装置9，从而完成第二拣选站4订单箱的流转，再将按钮复位，卸料机5重新启动以使第一拣选站3和第二拣选站4完成拣选工作。
可选的，当订单箱被下层输送线2带动至对应订单箱收集口时，可以通过设置的第一移载机构702或额外设置的移载机构将下层输送线1的订单箱推入订单箱收集口。
本申请还提供了一种控制方法，参见图5，该控制方法应用于上述中的系统，该控制方法包括如下步骤：
S100、控制卸料机向上层输送线和下层输送线传输待拣选料箱，上层输送线和下层输送线的输送方向一侧设有第一拣选站，另一侧设有第二拣选站。
S110、控制上层输送线和下层输送线将待拣选料箱输送至第一拣选站和/或第二拣选站处以供拣选。
S120、控制所述上层输送线和下层输送线将拣选后的料箱输送至上料机。
在本申请实施例中，可以通过控制装置控制各部分执行相应的动作。控制装置可以在控制系统启动拣选工作前，获取所需拣选的订单信息以及待拣选料箱的货物信息。在控制卸料机向上层输送线和下层输送下投放待拣选料箱以供第一拣选站和第二拣选站进行时，控制装置可以根据拣选站根据订单需求从待拣选料箱拣选后料箱中剩余货物的情况，判断是否还 能够满足该拣选站或另一拣选站的拣选需求，若是，则使该料箱继续被该拣选站拣选或通过控制移载机构将料箱转移至另一层输送线供另一拣选站拣选，否则，该料箱作为拣选后料箱通过控制该层的输送线将其运送至上料机回收。
在控制卸料机向上层输送线和下层输送线传输待拣选料箱时，包括：控制卸料机的上层出料口向上层输送线传输待拣选料箱，控制卸料机的下层出料口向下层输送线传输所述待拣选料箱。
在控制上层输送线和下层输送线将拣选后料箱输送至上料机时，包括：控制上层输送线将拣选后料箱输送至上料机的上层收料口，控制下层输送线将拣选后料箱输送至所述上料机的下层收料口。
在一可选实施例中，控制上层输送线和下层输送线将待拣选料箱输送至第一拣选站和/或第二拣选站处以供拣选，包括：
控制上层输送线将待拣选料箱输送至与上层输送线相邻的第二拣选站处，以使上层待拣选料箱在第二拣选站处被拣选；以及，控制下层输送线将待拣选料箱通过移载位移载至下层拣选线，以使待拣选料箱在下层拣选线的第一拣选站处被拣选；其中，下层拣选线设于下层输送线沿输送方向一侧。
或者，当上下两层输线均设置拣选线时，控制上层输送线将待拣选料箱通过移载位移载至上层拣选线101，以使待拣选料箱移载在上层拣选线101的第二拣选站处被拣选；以及，控制下层输送线将待拣选料箱通过移载位移载至下层拣选线，以控制待拣选料箱在下层拣选线的第一拣选站处被拣选；其中，下层拣选线设于下层输送线沿输送方向一侧，上层拣选线101设于上层输送线沿输送方向一侧，上层拣选线101和下层拣选线异侧设置。
在另一可选实施例中，控制上层输送线和下层输送线将待拣选料箱输送至第一拣选站和/或第二拣选站处以供拣选，还可以包括：
控制上层输送线将待拣选料箱输送至与上层输送线相邻的第二拣选站处，以使待拣选料箱在第二拣选站处被初次拣选；以及，将经过初次拣选的待拣选料箱通过移载位输送至下层拣选线，使经过初次拣选的待拣选料箱在下层拣选线的第一拣选站处被再次拣选；和/或，
控制下层输送线将待拣选料箱通过移载至下层拣选线，以使待拣选料箱在下层拣选线的第一拣选站处被初次拣选；以及，将经过初次拣选的待拣选料箱通过移载位移载至上层输送线，使经过初次拣选的下层待拣选料箱在与上层输送线相邻的第二拣选站处被再次拣选。
在一实施例中，当第一拣选站和/或第二拣选站需要空箱时，该方法还包括：控制空箱投放模块向下层输送线投放空箱，并控制下层输送输送空箱至第二拣选站对应的空箱缓存位。
可选的，空箱投放模块用于向第二拣选站投放空箱，该方法具体包括：在检测到表示第二拣选站的空箱缓存位没有空箱的检测信号后，使空箱投放模块向下层输送线投放空箱，以通过下层输送线向空箱缓存位提供空箱。
在一实施例中，当需要将第一拣选站和/或第二拣选站拣选完成的订单箱或异常箱从拣选站转出时，该方法可以包括：控制下层输送线输送第二拣选站的订单箱投线位投放的订单箱至收集模块，或者，控制上层输送线和/或下层输送线输送异常箱至收集模块。
可选的，收集装置用于收集来自第二拣选站的订单箱或异常箱，该方法具体包括：在检测到订单箱拣选完毕触发信号后，使收集模块收集自第二拣选站的订单箱投线位投放至下层输送线输送的拣选完毕订单箱。
本申请提供了一种控制装置，用于拣选系统，该控制装置包括存储器和处理器。可以理解的，控制装置可以包括一个或多个终端、和/或一个或多个服务器。
处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器可以包括各种类型的存储单元，例如系统内存、只读存储器(ROM)，和永久存储装置。其中，ROM可以存储处理器或者计算机的其他模块需要的静态数据或者指令。永久存储装置可以是可读写的存储装置。永久存储装置可以是即使计算机断电后也不会失去存储的指令和数据 的非易失性存储设备。在一些实施方式中，永久性存储装置采用大容量存储装置(例如磁或光盘、闪存)作为永久存储装置。另外一些实施方式中，永久性存储装置可以是可移除的存储设备(例如软盘、光驱)。系统内存可以是可读写存储设备或者易失性可读写存储设备，例如动态随机访问内存。系统内存可以存储一些或者所有处理器在运行时需要的指令和数据。此外，存储器可以包括任意计算机可读存储媒介的组合，包括各种类型的半导体存储芯片(DRAM，SRAM，SDRAM，闪存，可编程只读存储器)，磁盘和/或光盘也可以采用。在一些实施方式中，存储器可以包括可读和/或写的可移除的存储设备，例如激光唱片(CD)、只读数字多功能光盘(例如DVD-ROM，双层DVD-ROM)、只读蓝光光盘、超密度光盘、闪存卡(例如SD卡、min SD卡、Micro-SD卡等等)、磁性软盘等等。计算机可读存储媒介不包含载波和通过无线或有线传输的瞬间电子信号。
存储器上存储有可执行代码，当可执行代码被处理器处理时，可以使处理器执行上文述及的方法中的部分或全部。
此外，根据本申请的方法还可以实现为一种计算机程序或计算机程序产品，该计算机程序或计算机程序产品包括用于执行本申请的上述方法中部分或全部步骤的计算机程序代码指令。
或者，本申请还可以实施为一种非暂时性机器可读存储介质(或计算机可读存储介质、或机器可读存储介质)，其上存储有可执行代码(或计算机程序、或计算机指令代码)，当可执行代码(或计算机程序、或计算机指令代码)被电子设备(或电子设备、服务器等)的处理器执行时，使处理器执行根据本申请的上述方法的各个步骤的部分或全部。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (25)

  1. 一种拣选系统，其特征在于，包括：
    上层输送线和下层输送线，所述上层输送线和所述下层输送线的输送方向一侧设有第一拣选站，另一侧设有第二拣选站；
    卸料机，用于向上层输送线和下层输送线提供待拣选料箱，使得所述上层输送线和所述下层输送线将所述待拣选料箱输送至所述第一拣选站和所述第二拣选站处以供拣选；
    上料机，用于回收所述上层输送线和所述下层输送线输送的拣选后料箱。
  2. 根据权利要求1所述的拣选系统，其特征在于，
    所述卸料机具有上层出料口和下层出料口，所述上层出料口用于向所述上层输送线提供所述待拣选料箱，所述下层出料口用于向所述下层输送线提供所述待拣选料箱；和/或，
    所述上料机具有上层收料口和下层收料口，所述上层收料口用于回收所述上层输送线输送的所述拣选后料箱，所述下层收料口用于回收所述下层输送线输送的所述拣选后料箱。
  3. 根据权利要求1所述的拣选系统，其特征在于，所述卸料机具有上层出料口和下层出料口，所述上料机具有上层收料口和下层收料口，所述下层输送线和所述上层输送线沿输送方向的一端分别对接所述卸料机的下层出料口和上层出料口，另一端分别对接所述上料机的下层收料口和上层收料口。
  4. 根据权利要求1至3任一项所述的拣选系统，其特征在于，所述上层输送线和下层输送线至少其中之一在沿输送方向一侧设有拣选线；
    所述系统还包括至少一个移载机构，用于在上层输送线或下层输送线与所述拣选线之间转移所述待拣选料箱。
  5. 根据权利要求1至3任一项所述的拣选系统，其特征在于，所述下层输送线在沿输送方向一侧设有下层拣选线，所述下层拣选线位于所述上层输送线沿输送方向的一侧且低于所述上层输送线；
    所述系统还包括至少一个移载机构，用于在所述下层输送线与所述下层拣选线之间转移所述待拣选料箱，或用于在所述上层输送线与所述下层 拣选线之间转移所述待拣选料箱；
    所述第一拣选站与所述下层拣选线相邻，以便所述下层拣选线上的待拣选料箱被直接拣选；
    所述第二拣选站与所述上层输送线相邻，以便所述上层输送线上的待拣选料箱被直接拣选。
  6. 根据权利要求5所述的拣选系统，其特征在于，所述第二拣选站设有踏台，使得所述第二拣选站的站立面高于所述第一拣选站的站立面。
  7. 根据权利要求5所述的拣选系统，其特征在于，
    所述上层输送线与所述下层输送线的输送方向相同；
    所述下层拣选线的输送方向与所述下层输送线的输送方向相反或相同。
  8. 根据权利要求4所述的拣选系统，其特征在于，
    所述至少一个移载机构包括第一移载机构和第二移载机构；
    所述第一移载机构和所述第二移载机构分设于所述拣选线沿输送方向的两端；
    所述第一移载机构用于将所述下层输送线或所述上层输送线上的所述待拣选料箱转移至所述拣选线以供拣选，所述第二移载机构用于将所述拣选线的所述拣选后料箱转移至所述下层输送线或所述上层输送线。
  9. 根据权利要求1至3任一项所述的拣选系统，其特征在于，所述上层输送线与所述下层输送线的输送方向相同；
    所述下层输送线在沿输送方向一侧设有下层拣选线，所述上层输送线在沿输送方向一侧设有上层拣选线，所述上层拣选线和所述下层拣选线异侧设置；
    所述系统还包括移载机构，用于在所述下层输送线与所述下层拣选线之间转移所述待拣选料箱，或用于在所述上层输送线与所述上层拣选线之间转移所述待拣选料箱，
    并且，所述移载机构还能够在竖直方向往复运动，用于在所述上层输送线或所述上层拣选线与所述下层输送线之间转移所述待拣选料箱，或用于在所述下层输送线或下层拣选线与所述上层输送线之间转移所述待拣选料箱；
    所述第一拣选站与所述下层拣选线相邻，以便所述下层拣选线上的所述待拣选料箱被直接拣选；
    所述第二拣选站与所述上层拣选线相邻，以便所述上层输送线上的所述待拣选料箱被直接拣选。
  10. 根据权利要求1所述的拣选系统，其特征在于，所述系统还包括空箱投放模块，用于通过所述上层输送线和/或所述下层输送线向所述第一拣选站和/或所述第二拣选站提供空箱；和/或，
    所述系统还包括收集装置，至少通过所述上层输送线和/或所述下层输送线收集所述第一拣选站和/或所述第二拣选站的订单箱，或者自所述上层输送线和/或所述下层输送线收集异常箱。
  11. 根据权利要求9所述的拣选系统，其特征在于，所述系统包括所述空箱投放模块和所述收集装置；
    所述卸料机和所述上料机分设于所述下层输送线和所述上层输送线沿输送方向的两端，所述空箱投放模块和所述收集装置分设于所述下层输送线和所述上层输送线沿输送方向的两端；
    所述卸料机与所述空箱投放模块分设于所述下层输送线和所述上层输送线沿输送方向的两侧，所述上料机与所述收集装置分设于所述下层输送线和所述上层输送线沿输送方向的两侧。
  12. 根据权利要求5所述的拣选系统，其特征在于，所述第二拣选站设有空箱缓存位；
    所述系统还包括空箱投放模块，所述空箱投放模块具有空箱投线口，所述空箱投线口与所述下层输送线对接，以通过所述下层输送线向所述空箱缓存位提供空箱。
  13. 根据权利要求12所述的拣选系统，其特征在于，所述第二拣选站还设有第一检测装置，用于检测所述空箱缓存位是否有空箱；
    所述系统被配置为在所述第一检测装置输出表示空箱缓存位没有空箱的检测信号后，使所述空箱投放模块通过所述空箱投线口向所述下层输送线投放空箱。
  14. 根据权利要求12所述的拣选系统，其特征在于，所述第二拣选站设有订单箱投线位；
    所述系统还包括收集装置，所述收集装置具有订单箱收集口；
    所述订单箱收集口与所述下层输送线对接，以收集自所述订单箱投线位投放至所述下层输送线的订单箱。
  15. 根据权利要求14所述的拣选系统，其特征在于，所述第二拣选站还设有第二检测装置，用于检测所述订单箱拣选完毕触发信号；
    所述系统被配置为在所述第二检测装置检测到所述订单箱拣选完毕触发信号后，使所述收集模块通过所述订单箱收集口收集自所述订单箱投线位投放至所述下层输送线输送的拣选完毕订单箱。
  16. 根据权利要求5所述的拣选系统，其特征在于，所述系统还包括跨设于所述上层输送线上方的跨梯，所述跨梯与所述第二拣选站相通。
  17. 一种拣选系统的控制方法，应用于如权利要求1-16任一项所述的系统，其特征在于，包括：
    控制卸料机向上层输送线和下层输送线传输待拣选料箱，所述上层输送线和所述下层输送线的输送方向一侧设有第一拣选站，另一侧设有第二拣选站；
    控制所述上层输送线和所述下层输送线将所述待拣选料箱输送至所述第一拣选站和/或所述第二拣选站处以供拣选；
    控制所述上层输送线和下层输送线将拣选后料箱输送至上料机。
  18. 根据权利要求17所述的控制方法，其特征在于，所述控制卸料机向上层输送线和下层输送线传输待拣选料箱，包括：
    控制所述卸料机的上层出料口向所述上层输送线传输所述待拣选料箱，控制所述卸料机的下层出料口向所述下层输送线传输所述待拣选料箱。
  19. 根据权利要求17所述的控制方法，其特征在于，所述控制所述上层输送线和下层输送线将拣选后料箱输送至上料机，包括：
    控制所述上层输送线将拣选后料箱输送至所述上料机的上层收料口，控制所述下层输送线将拣选后料箱输送至所述上料机的下层收料口。
  20. 根据权利要求17-19任一项所述的控制方法，其特征在于，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
    控制所述上层输送线将待拣选料箱输送至与所述上层输送线相邻的 所述第二拣选站处，以使所述上层待拣选料箱在所述第二拣选站处被拣选；
    控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以使所述待拣选料箱在所述下层拣选线的所述第一拣选站处被拣选；其中，所述下层拣选线设于所述下层输送线沿输送方向一侧。
  21. 根据权利要求17-19任一项所述的控制方法，其特征在于，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
    控制所述上层输送线将待拣选料箱通过移载位移载至上层拣选线，以使所述待拣选料箱在所述上层拣选线的所述第二拣选站处被拣选；
    控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以控制所述待拣选料箱在所述下层拣选线的所述第一拣选站处被拣选；其中，所述下层拣选线设于所述下层输送线沿输送方向一侧，所述上层拣选线设于所述上层输送线沿输送方向一侧，所述上层拣选线和所述下层拣选线异侧设置。
  22. 根据权利要求17-19任一项所述的控制方法，其特征在于，控制所述上层输送线和下层输送线将待拣选料箱输送至所述第一拣选站和/或第二拣选站处以供拣选，包括：
    控制所述上层输送线将待拣选料箱输送至与所述上层输送线相邻的所述第二拣选站处，以使所述待拣选料箱在所述第二拣选站处被初次拣选；以及，将经过所述初次拣选的所述待拣选料箱通过移载位输送至下层拣选线，使经过所述初次拣选的所述待拣选料箱在所述下层拣选线的所述第一拣选站处被再次拣选；和/或，
    控制所述下层输送线将待拣选料箱通过移载位移载至下层拣选线，以使所述待拣选料箱在所述下层拣选线的所述第一拣选站处被初次拣选；以及，将经过所述初次拣选的所述待拣选料箱通过移载位移载至上层输送线，使经过所述初次拣选的所述下层待拣选料箱在与所述上层输送线相邻的所述第二拣选站处被再次拣选。
  23. 根据权利要求17所述的控制方法，其特征在于，还包括：
    控制空箱投放模块向所述下层输送线投放空箱，并控制所述下层输送线输送空箱至所述第二拣选站对应的空箱缓存位。
  24. 根据权利要求17所述的控制方法，其特征在于，还包括：
    控制所述下层输送线输送所述第二拣选站的订单箱投线位投放的订单箱至收集模块，和/或，
    控制所述上层输送线和/或下层输送线输送异常箱至所述收集模块。
  25. 一种控制装置，其特征在于，包括：
    至少一个处理器；以及
    至少一个存储器，其上存储有可执行代码，当所述可执行代码被所述至少一个处理器执行时，使所述至少一个处理器执行如权利要求17至24中任一项所述的方法。
PCT/CN2022/115056 2022-08-26 2022-08-26 拣选系统、控制装置及控制方法 WO2024040557A1 (zh)

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Publication number Priority date Publication date Assignee Title
CN209853188U (zh) * 2019-03-08 2019-12-27 无锡意佳工业设备制造有限公司 带拐角的双层循环线系统
CN111115163A (zh) * 2019-12-30 2020-05-08 苏州新宁物流有限公司 一种扫描和拣选工作站群组
CN112077006A (zh) * 2019-06-13 2020-12-15 江苏华章物流科技股份有限公司 货到人播撒拣选一体化工作站及其拣选方法
CN216425639U (zh) * 2021-11-11 2022-05-03 深圳市海柔创新科技有限公司 货物输送系统

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CN209853188U (zh) * 2019-03-08 2019-12-27 无锡意佳工业设备制造有限公司 带拐角的双层循环线系统
CN112077006A (zh) * 2019-06-13 2020-12-15 江苏华章物流科技股份有限公司 货到人播撒拣选一体化工作站及其拣选方法
CN111115163A (zh) * 2019-12-30 2020-05-08 苏州新宁物流有限公司 一种扫描和拣选工作站群组
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